International Journal of Trend in Research and Development, Volume 4(3), ISSN: 2394-9333

www.ijtrd.com
WiFi Based Human Tracking Robot
1
B.Saranya, 2G.Kiruthikamani and 3P.Devi,
1,2,3
Assistant Professor, Department of Electronics and Communication Engineering, Sri Ramakrishna Institute of
Technology, Coimbatore, India

Abstract: Many areas of the world are getting affected due to It also has a GPS receiver for tracking the location of humans
natural calamities. Disasters are either man made or natural and the output of it is sent to the computer[3]
such as earthquakes, terrorist attacks and flood etc. Rescue
Yogesh V.Bangalkar, S.M.Kharad proposed a rescue robot
personnel must make quick decision under stress and try to get
which is controlled with the help of a wireless camera. GPS is
victims to safety at their own risk. Previously, trained dogs and
used to track the location of the place where human is detected
rescue personnel were employed to perform all these tasks. The
by the PIR sensor. This system uses a RF receiver and
main objective of this paper is to develop a fully automated
transmitter[4]
mobile robot without using a camera, which can rescue more
number of people from the adverse conditions of dying due to Shwetha.R, Dr.Chethan H.K, proposed an automatic controlled
natural calamities. By using this robot, we can quickly get the robot for human detection with the help of sensors. Alive
amount of information available to the rescuers and more lives human is detected using sensor. The information about the
can be saved. The robot is designed for detecting humans in an human detected is sent using GSM modem [5]
unmanned area that can be done using sensor units and track
S.P.Vijayaragavan, Hardeep Pal Sharma, proposed an
their location using GPS and transmit the data to the receiver
autonomous human detecting robot which uses PIC
using IoT.
microcontroller. Human detection is made using PIR sensor.
Keywords: GPS, IoT, PIR, ESP Visual basics is used to create an on screen application. The
system uses Zigbee transmitter and receiver or RF
I. INTRODUCTION
transceivers[6]
Disasters can disturb economic and social balance of the
Mohammad Shoeb Shah, P. B. Borole proposed a manually
civilization. Natural disasters occur frequently now-a-days.
controlled robot which uses various sensors such as air quality
Many human beings are victims of such disasters. Disasters can
sensor, temperature and humidity sensor, etc. The messages are
be either natural or human induced disasters. Natural calamities
transmitted and received using Internet. It also uses a robotic
include floods, storms, cyclones, bush fires, and earthquakes.
arm[7]
Human induced disasters are transportation accidents, industrial
accidents and major fires. During such disasters, in order to III. PROPOSED SYSTEM
prevent loss of life various essential services (like fire fighters,
Rescuing more number of people is difficult because searching
medical Personnel, police) are deployed. In most of the
for live humans in disaster affected areas is time consuming.
disasters and natural calamities, the rescue team faced many
problems in searching people which were in concern. Some This paper proposes an automatic robot that moves in the
lose their lives because of this. Generally, rescue people cannot unmanned areas and helps in detecting the alive people using
ultrasonic and PIR sensor respectively. Rescue operation can be
enter into some parts/places of the affected areas. All these
carried out after receiving the location of live humans tracked
tasks are done mostly by people and dogs. To avoid any further
by GPS which is sent to the receiver (PC, Mobile etc) using
losses a robotic system can be employed for providing alert of
IoT. The proposed system uses ARDUINO microcontroller,
human being Wireless robotics is one of the evolving fields of
application, where different technology is used. It is an two DC motors for driving the wheel setup. Wi-Fi module is
application where the concept of embedded processor to used to access the Internet for sending the output of the GPS
receiver.Software tools that are used here:
wireless communication is being used for a practical
application such as search and rescue mission. 1. ARDUINO software
2. Embedded C
II. LITERATURE SURVEY
Arduino is an open-source physical computing platform based
Formerly, dogs were used because of their high sensitive
nature. One major drawback was dogs couldn’t work on a simple microcontroller board, and a development
independently; they need human assistance. It means, the need environment for writing software for the board.The Arduino
programming language is an implementation of writing a
is totally or partially independent to human factor.
similar computing platform, which is based on the Processing
P.Velrajkumar and A.Darwin Jose Raju proposed a remote multimedia programming environment. Current Arduino boards
device controlling robot using RF technology; it gives a will reset automatically and begin the upload. With older
command from laptop to controller. It also has a camera unit boards that lack auto reset, press the reset button on the board
which is used for tracking and image can be seen on laptop[1] just before starting the upload.
Rupnar Pallavi Sharad and Prof.Throat P.R proposed a remote IV. BLOCK DIAGRAM
controlled robot using Zigbee transceiver and a wireless
camera. It has a PIR sensor unit which is used for human
detection. An alarm is used which will alert us when a human is
detected[2]
Geetha Bharathi.V.S , Dr. S.Sudha proposed a manually
controlled robot for detecting alive humans using sensor units.

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 International Journal of Trend in Research and Development, Volume 4(3), ISSN: 2394-9333
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hooked up to Arduino device to get Wi-Fi-ability. This module
has a powerful enough on-boarding process and high storage
capacity that allows it to be integrated with the sensors and
other application specific devices.
F. GPS module
The Global Positioning System (GPS) is a global navigation
satellite system that provides location and time information in
all-weather conditions. GPS satellites transmit signal
information to earth. This signal information is received by the
GPS antenna in order to measure the user’s correct position. In
this, GPS antenna is connected externally through SMA
connector. A GPS receiver monitors multiple satellites and
solves equations to determine the precise position of the
receiver and its deviation from true time.

Figure 1: Block diagram of the human tracking Robot VI. RESULT

V. WORKING OF THE SYSTEM Thus, the location of the detected human is displayed on the
web page which is accessed by the rescue team on a PC(or
A. Arduino mobile, Tab, etc).
The microcontroller used here is Arduino UNO. The UNO is a
microcontroller board based on the ATMEGA 328P. The
Atmega328 has 32 KB (Kilo Bytes) of flash memory for
storing code. It has also 2 KB of SRAM (Static Random Access
Memory) and 1 KB of EEPROM (Electrically Erasable
Programmable Read-Only Memory). The board has 14 digital
input/output pins, 6 analog inputs, a 16 MHz (Mega Hertz)
quartz crystal, a USB, an ICSP circuit and a reset button. It
contains everything needed to support the microcontroller. The
UNO can be programmed with the Arduino Software.
B. Passive Infrared Sensor
It is passive infrared sensor which detects the motion with the
variation of infrared radiation. It consists of multiple facets.
The each part of which contains Fresnel lens. Fresnel lens
condenses light providing a large range of IR (Infrared) to the Figure 2: Top viewof the robot showing the wheel setup
sensor. It provides single bit digital output and it can be
connected to all microcontrollers. The motion of the human can When the system is fed with power source, it starts moving in a
be detected with this sensor. random path. It avoids obstacle in its way by stopping its
movement when an obstacle is detected by ultrasonic sensor
C. Ultrasonic Sensor and moves right. Any motion when detected by PIR sensor
The ultrasonic sensor used here for the obstacle detection and makes ESP8266 to transmit its location to the particular IP
for automatic movement of the robot. The measurement address which can be accessed by any device connected with
distance of this module is within 2cm-400cm. The detection of ESP8266.
ultrasonic sensors is long-range, the drawback of that is the
slow reaction of the system. The circuit connection for this unit
is simple. The output of the sensor is measured in pin 2 and it is
given to a pin of microcontroller. Connect the other two pins
with the power rail.
D. Motor and motor drive
Motor denotes the robot which can move over disaster prone
areas. Motor drive is used for interfacing the microcontroller
and robot. DC motors are used. DC motors have polarity and its
rotation depends on direction of current. Since the DC motor
requires much higher voltage and current, it cannot be
interfaced directly with the microcontroller. Motor drive is used
for this. It acts as an interfacing device to supply required Figure 3: Vehicle setup showing motor unit’s front view
power to the motor.
E. The Wi-Fi Module
The ESP8266 Wi-Fi Module is a self-contained SOC (System-
on-Chip) with integrated TCP/IP (Transmission Control
Protocol/Internet Protocol) protocol stack that can give any
microcontroller access to Wi-Fi network. Each ESP8266
module comes pre-programmed meaning, it can be simply
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 International Journal of Trend in Research and Development, Volume 4(3), ISSN: 2394-9333
www.ijtrd.com
Figure 3: Output of the GPS receiver displayed on the web page
If there is any motion detected by the PIR sensor, then the
output page displays “Human detection” along with the latitude
and longitude co-ordinates of the place where human presence
is detected which is shown in the figure 4.
Figure 4: Output displayed on web page when human is
detected
CONCLUSION
Many lives can be saved with the help of this IoT based human
tracking robot during a disaster in a short time. By using this
robot, all the members of the rescue team can access the web
page, where the output of the GPS will be displayed. Therefore,
many rescue persons can be employed to save more number of
people.
References
[1] P.Velrajkumar and A.Darwin Jose Raju “Development of
real time tracking and control mobile robot using video
capturing feature for unmanned applications”,International
conference on Communication Control and Computing
Technologies (ICCCCT), 2010
[2] Rupnar Pallavi Sharad and Prof. Throat P.R “Live Human
Detecting Robot For Earthquake Rescue Operation”
International Journal on Recent and Innovation Trends in
Computing and Communication, 2013
[3] Geetha Bharathi.V.S , Dr.S.Sudha “Alive Human
Detection in Disaster Zones using Manually Controlled
Robots” International Journal on Innovative Research in
Computing and Communication Engineering, 2015
[4] Yogesh.V. Bangalkar, S.M. Kharad, “Review Paper On
Search and Rescue Robot For Victims Of Earthquake And
IJTRD | May-Jun 2017
Available Online@www.ijtrd.com
Natural Calamities” International Journal on Recent and
Innovation Trends in Computing and Communication,
2015
[5] Shwetha R, Dr. Chethan H K ,“ Automatic And Manual
Controlled Alive Human Detection Robot During Disaster
Management” International Journal For Technological
Research In Engineering, 2014
[6] S.P.Vijayaragavan, Hardeep Pal Sharma, Guna sekar C.H,
S.Adithiya Kumar “Live Human Detecting Robot For
Earthquake Rescue Operation” International Journal of
Business Intelligents, 2013
[7] Mohammad Shoeb Shah and P. B. Borole “Surveillance
and Rescue Robot using Android Smartphone and the
Internet” International Conference on Communication and
Signal Processing, 2016
[8] Philips Dames, Vijay kumar “Autonomous localization of
an unknown number of targets without using data
association using teams of mobile sensors”, IEEE, 2015
[9] Antriksh Sharma, Prof. Balamurugan.M.S, “Mobile
robotic system for search mission”, IEEE, 2015
[10] Golap Kanti Dey, Raquibul Hossen, Md.Shafayet, Kazi
Tanvir, Ahmmed, “Distance controlled rescue and security
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BIOGRAPHY
Ms. B. Saranya completed her M.E. degree in
Embedded Systems at Kumaraguru College of
Technology, Anna University, Chennai in the
year 2015. She received her B.E. degree in
Electronics and Communication Engineering
from Sri Ramakrishna Institute of Technology,
Coimbatore, Anna University, Chennai in the year 2013.
Currently she is working as Assistant Professor in ECE
Department at Sri Ramakrishna Institute of Technology. She is
having 17 months of teaching experience. Her area of interest is
Embedded System Design. She has published papers in
International Journals.
Ms. G. Kiruthikamani completed her M.E. degree
in Embedded System Technologies at Sri
Ramakrishna Engineering College, Anna
University, Chennai in the year 2015. She
received her B.E. degree in Electronics and
Communication Engineering from Sri Ramakrishna
Engineering College, Coimbatore, in the year 2013. Currently
she is working as Assistant Professor in ECE Department at Sri
Ramakrishna Institute of Technology. She is having 11 months
of teaching experience. Her area of interest is Embedded
System Design and Microcontroller. She has published papers
in International Journals.
Ms. P.Devi received her M.E degree in
Communication Systems from Sri Krishna
College of Engineering and Technology, Anna
University, Coimbatore in the year 2011. She
received her B.E degree in Electronics and
Communication Engineering from VLB Janakiammal College
of Engineering and Technology, Anna University, Chennai in
the year 2009. Currently she is working as Assistant Professor
in ECE Department at Sri Ramakrishna Institute of Technology
.She is having five years of teaching experience. She has
presented papers in National Conferences. She has published
her papers in National and International Journals. Her field of
interest are Digital Image Processing and Wireless Networks
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