This document describes the design and implementation of a human following robot using an Arduino Uno microcontroller. The robot is able to detect and follow humans using infrared sensors to sense obstacles and humans. It can also detect distances to obstacles in front using an ultrasonic sensor. The robot is built on a chassis with four DC motors connected to a motor driver shield to move the robot in different directions. The Arduino programming allows the robot to sense its surroundings and navigate accordingly using sensor input processed by the microcontroller. Testing showed the sensors working accurately within 10cm and the robot able to successfully follow humans and obstacles as intended.
This document describes the design and implementation of a human following robot using an Arduino Uno microcontroller. The robot is able to detect and follow humans using infrared sensors to sense obstacles and humans. It can also detect distances to obstacles in front using an ultrasonic sensor. The robot is built on a chassis with four DC motors connected to a motor driver shield to move the robot in different directions. The Arduino programming allows the robot to sense its surroundings and navigate accordingly using sensor input processed by the microcontroller. Testing showed the sensors working accurately within 10cm and the robot able to successfully follow humans and obstacles as intended.
This document describes the design and implementation of a human following robot using an Arduino Uno microcontroller. The robot is able to detect and follow humans using infrared sensors to sense obstacles and humans. It can also detect distances to obstacles in front using an ultrasonic sensor. The robot is built on a chassis with four DC motors connected to a motor driver shield to move the robot in different directions. The Arduino programming allows the robot to sense its surroundings and navigate accordingly using sensor input processed by the microcontroller. Testing showed the sensors working accurately within 10cm and the robot able to successfully follow humans and obstacles as intended.
This document describes the design and implementation of a human following robot using an Arduino Uno microcontroller. The robot is able to detect and follow humans using infrared sensors to sense obstacles and humans. It can also detect distances to obstacles in front using an ultrasonic sensor. The robot is built on a chassis with four DC motors connected to a motor driver shield to move the robot in different directions. The Arduino programming allows the robot to sense its surroundings and navigate accordingly using sensor input processed by the microcontroller. Testing showed the sensors working accurately within 10cm and the robot able to successfully follow humans and obstacles as intended.
International Research Journal of Modernization in Engineering Technology and Science
( Peer-Reviewed, Open Access, Fully Refereed International Journal ) Volume:03/Issue:07/July-2021 Impact Factor- 5.354 www.irjmets.com
HUMAN FOLLOWING ROBOT USING ARDUINO UNO
Kharga Bahadur Kharka*1,Tashi Rapden Wangchuk Bhutia*2, Lalita Chettri*3, Neetes Luitel*4 , Roshan Subba*5 ,Eshant Giri*6 , Samuel Lepcha*7 *1,3,4,5,6,7Student,Department of Electrical And Electronic Engineering, Centre For Computer And Communication Technology, Namchi , Sikkim, India *2Senior Lecturer, Department Of Electrical And Electronic Engineering, Centre For Computer And
Communication Technology, Namchi, Sikkim, India.
ABSTRACT A robot which can help us in many fields like carrying items, work with more accuracy in lesser time in every kind of works. A robot that can help us in a hospital or bringing medical items in any emergency case will be more helpful for a doctor in emergency cases. This type of robot having so many benefits and it will be helpful in the future. This type of robot can be close to humans is much possible. This useful project is made to attempts to follow the right human or obstacle. In this robot, Infrared sensors are used to move the robot in both the direction and ultrasonic sensor for both the forward and reverse direction. We used the Arduino Uno microcontroller as the brain of this project. This robot is driven with four Dc motors and it is controlled by a motor driver shield with ATmega L293d . The main objective of designing this useful project is to make our life better and luxurious. In this project robotic car sense the human by IR sensor automatically and follow the human and obstacles. This type of robot will be more useful and it will be a trend in the future. Keywords: Arduino, DC gear motor, Infrared sensor, Microcontroller, Ultrasonic sensor, Robot. I. INTRODUCTION In this high technology, a robot must be able to detect and follow humans. A robot that can detect and follow human or obstacle within a specific range is called ‘Human Following Robot’. Robots are used to change people's lives and make people's life luxurious. A robot that can use in shopping time which carries items, and follow human without any remote more useful.A robot that can use in the hospital to bringing medicine with more accuracy and fast. The human following robot has many works like work as trolley,strecture in hospital, and a small basket with a car and so on. Now in this changing world, people are started to lives with robot-like humans following robots for their luxurious life. This project named called human following robot because it can follow humans with the help of IR sensors and can co-exist with humans and help humans in any kind of work with more accuracy and in lesser time. The human following robot can use in the defense sector also to carry weapons for the soldiers. This type of robot can sense obstacles and humans automatically and it can use in the future in our cars. An human following robot can be modified in the future with more developed components and can make it more advance. This robot can be enhanced by structure by adding more components like camara , tracking device and make it more beautiful and workable . This robot will be more trend in our future. II. METHODOLOGY A human following robot has two building stages: hardware and software. Hardware First, we have to build a frame or chassis as per the requirement now arrange the component in chasis as per the circuit diagram. Now connect trigger pin to A2 number pin in Arduino, now connect Echo pin to A1 of the Arduino. Likewise left IR sensor is connected to the A3 pin of the arduino board, the servo motor is connected to PIN10 ofArduino. Likewise, the motor driver(L293D) has 16 pins, first, 1,8,9 and 16 pins of the motor driver are connected to +5 volt pin and 4,5,10 and 11 pins of the motor driver are connected to the ground pin. Similarly,PIN 2 of the motor driver is connected to the PIN 4 of Arduino, and PIN 7 of Arduino is connected to PIN 10 of the motor driver, and now PIN 8 of Arduino is connected to the PIN 15 of the motor driver pin . Likewise in motor, motor1 is connected to the 1 and 2 pins of the motor drive shild. And now, similarly motor2 is connected to 3 and 4 pins of the motor driver shild , and now motor3 connects to 5 and 6 pins of the motor driver. And last one motor4 connect to 7 and 8 of the motor driver pins.
www.irjmets.com @International Research Journal of Modernization in Engineering, Technology and Science
[1609] e-ISSN: 2582-5208 International Research Journal of Modernization in Engineering Technology and Science ( Peer-Reviewed, Open Access, Fully Refereed International Journal ) Volume:03/Issue:07/July-2021 Impact Factor- 5.354 www.irjmets.com Software To make the hardware parts work or run, it should be programmed through the required software like Arduino IDE . Since the microcontroller at first will not be having any program, if we also build up the hard ware it will not have the capability to work or run due to lack of instructions which is provided by a program. there fore we need a software to upload the program on any microcontroller. To implement the task all three section are taking and giving information. Sensor module parts it sense data and provide it to the microcontroller chip. Microcontroller part software take all data from the all sensor and saving to the corrected path. According to the data input the microcontroller parts giving the necessary input for the motor control section to guiding and run the motor for working. Since we are using Arduino microcontroller we have to use Arduino IDE software to write and upload program in microcontroller III. MODELING AND ANALYSIS Components : The human following robot has the following main components are: 1. Arduino Uno 2. L293D Motor driver 3. Infrared Sensors 4. Ultrasonic Sensor 5. Servo Motor 6. Four DC Geared Motors 7. Four wheels 8. Robot Chasis 9. Jumper wires 10. 18650 batteries 11. Switch 12. Tools Needed
Arduino Uno
Fig.1: Arduino Uno
IC L293D motor driver
Fig.2: L293D Motor driver Ic
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[1610] e-ISSN: 2582-5208 International Research Journal of Modernization in Engineering Technology and Science ( Peer-Reviewed, Open Access, Fully Refereed International Journal ) Volume:03/Issue:07/July-2021 Impact Factor- 5.354 www.irjmets.com Infrared Sensor
Fig.-3: infrared sensor
Ultrasonic Sensor (HC-SR04)
Fig-4: Ultrasonic Sensor
DC Gear Motor
. Fig.-5: DC Motors Wheel
Fig.-6: DC Motor Wheels
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[1611] e-ISSN: 2582-5208 International Research Journal of Modernization in Engineering Technology and Science ( Peer-Reviewed, Open Access, Fully Refereed International Journal ) Volume:03/Issue:07/July-2021 Impact Factor- 5.354 www.irjmets.com 18650Battery
Fig.7: 18650 battery
Switch
Fig.8: Switch Tools Needed Some tools names are given below: 1. Soldering Iron 2. Glue gun 3. Cutter 4. Knife 5. Screwdriver 6. Tweezer 7. Wire Strippers 8. Needle nose Pliers IV. RESULTS We have successfully made the human following robot which is used to follow objects as well as humans. This robot uses ultrasonic range sensors and Infrared sensors. The test was performed on the both ultrasonic sensor and infrared sensor that the sensor was working accurately within the range of 10 cm. An ultrasonic sensor is used to move the robot forward and backward. Infrared sensors are used to move the robot in the left or right direction accordingly. Then we test the serial communication of Arduino, motor shield, and various motors . This robot took a lot of time to complete this project. We were faced lots of problems regarding the program code, as there was huge numbers of error in the code which was further rectified it and lastly it works. Motors drivers connections got interchanged which was rectified and our robot works perfectly fine. Finally, after the lots of effort and time our objective was achieved which was to implement a good Human-Robot interaction.
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[1612] e-ISSN: 2582-5208 International Research Journal of Modernization in Engineering Technology and Science ( Peer-Reviewed, Open Access, Fully Refereed International Journal ) Volume:03/Issue:07/July-2021 Impact Factor- 5.354 www.irjmets.com
V. CONCLUSION In the world the robotics generation is coming. In this Object Following Robot, we can add a GSM module that will give us the location of the robot, or we can add wireless remote controls to our robot to work as a remote controller or to work as an automatic object following the robot. My project can be use in many areas like hospitals for more accuracy and fast work in any emergency cases , in shpping malls to carry items , we can attach various sensors and cameras to get more features. This project challenged the group to co-operate, communicate, and expand understanding of electronics, mechanical systems, and integration with programming . In this way, we completed this project by believe that our project will be helpful in future and it will help human to do any kind of works & hence my purpose will be successful. ACKNOWLEDGEMENTS No volume of words is enough to express our gratitude towards our guide sir Mr. Tashi Rapden Wangchuk Bhutia, Sr. lecturer in the Department of Electrical and Electronics Engineering who has been very concerned and guided for all the ideas and solve quires in the preparation of this project. They have been very cooperative and sincere us through to see our hard work become fruitful. We are very thankful to Mr. Mukesh Kumar Sharma, project coordinator for giving us the opportunity to carry out this project. Also we are very much thankful to the owners of Elcetrozon.in, Sapan Pradhan and Aakash Prajapati for providing the required components at very low price and for providing every details and working of parts and components. We also want to express our thanks to our parents for giving us the time and money for this project. And finally, I would like to express my gratitude towards my team members for giving their 100% effort and their hard work to make our project succeed, without them and their support it was not possible to complete this project. VI. REFERENCES [1] K. Morioka, J.-H. Lee, and H. Hashimoto, “Human-following mobile robot in a distributed intelligent sensor network,” IEEE Trans. Ind. Electron., vol. 51, no. 1, pp. 229–237, Feb. 2004. [2] Y. Matsumoto and A. Zelinsky, “Real-time face tracking system for human-robot interaction,” in 1999 IEEE International Conference on Systems, Man, and Cybernetics, 1999. IEEE SMC ’99 Conference Proceedings, 1999, vol. 2, pp. 830– 835 vol.2. [3] H. Takemura, N. Zentaro, and H. Mizoguchi, “Development of vision-based person following module for mobile robots in/outdoor environment,” in 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2009, [4] N. Bellotto and H. Hu, “Multisensor integration for human-robot interaction,” IEEE J. Intell. Cybern.Syst., vol. 1, no. 1, p. 1, 2005
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