A

Project Report
On
“VOICE CONTROL ROBOT USING ARDUINO”
In partial fulfillment of requirement for the degree of

Bachelor of Technology

In

Electrical and Electronics Engineering

By

SONALI NAHAK 1821301263

Under the Guidance of

Asst.Prof TAPAN KUMAR PRADHAN

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

VIGNAN INSTITUTE OF TECHNOLOGY AND MANAGEMENT
BERHAMPUR-761008
 DECLARATION
We do hereby that declare we have undergone a project on “VOICE
CONTROLLED ROBOT USING ARDUINO” at Vignan Institute Of Technology
And Management, under the guidance Prof. TAPAN KUMAR PRADHAN,
department of Electrical And Electronics Engineering, VITAM, Berhampur.

We submit this report in partial fulfilment of the requirement for the Bachelor in
Technology In Electrical and Electronics Engineering from Vignan Institute of
Technology and Management, Berhampur the report is exclusively &
comprehensively prepared & conceptualized by us. All the information & data given
here in this project are collected during our study from sources & it has not been
published anywhere before.

SONALI NAHAK 1821301263

Department Of Electrical And Electronics Engineering

 ACKNOWLEDGEMENT

This work was completed due to the grace of almighty god we are highly indebted
to god that he has given the strength and encouragement to complete this work and
hope his blessings will continue to be showered on us so that we can achieve the goal
of our lives.

We avail this opportunity to place my profound gratitude to my guide Asst. Prof.

TAPAN KUMAR PRADHAN, Department of Electrical And Electronics
Engineering for his constant supervision, inspiration and encouragement, right from
the beginning of the seminar report entitled “VOICE CONTROLLED ROBOT
USING ARDUINO ”. We also indebted to Prof. B SRINIVAS RAO, HOD of
Electrical & Electronics Engineering for his help and advice in completion of this
seminar report.

Finally, we would like to extend my sincere thanks to all my friends and all persons
who have rendered their valuable help directly or indirectly in the completion of this
seminar report.

POOJA PADHI 1821301172

Department Of Electrical And Electronics Engineering

 ABSTRACT

This robotic is designed to control vehicle by using human voice command through Bluetooth
module. Voice Control Robot is used to complete specific commands like Forward,
Backward, Stop, Left, Right and dancing (or rotation of robot) etc. Voice Control Robot is
based on Speech Recognition. The commands are given to robot using Android application.
The Android application (AMR – Voice) is connected to Bluetooth Module (HC – 05), which
is directly connected to Arduino Uno R3. We give command to the robot and it performs
work according to the given command. Voice Control Robot is much useful for those areas
where humans can’t reached. Robot can work in all type of situations like toxic area, in fire
situations, polluted area and also on hills. This robot is very useful for those who is physically
handicapped. This robot is very small in size so we can use this project for spying or espial. If
we implement in this project so we can use this robot in military application, agriculture
purpose, and industrial purpose and also for surveillance device.

Keywords: Android, Arduino, Bluetooth Module, Robotic

4
 CONTENTS

SLNO. CONTENTNAME PAGENO.

DECLERATION I

ACKNOWLEDGEMENT II

ABSTRACT III

LIST OF TABLES……………………………………………. VI

LIST OF FIGURES……………………………………………. V

1 INTRODUCTION…………………………………………….. 01

1.1 OBJECTIVE OF PROJECT.................................................

1.2 SCOPE OF THE PROJECT................................................. 02

2 LITERATURE REVIEW…….…….….....…….....…………...

3 DESIGN......................................................................................

3.1 BLOCK DIAGRAM ………………………………………. 05

3.2 CIRCUIT DIAGRAM...........................................................

3.3 WORKING PRINCIPLE.....................................................

4 HARDWARE REQUIREMENTS..............................................

5 SOFTWARE REQUIREMENTS …………………………....... 05

5.1 ARUDINO……………………………………………... 05

5.2 ARUDINO BLUETOOTH CONTROLLER………….. 05

5.3 FLOWCHART………………………………………..... 09

6 RESULTS.....................................................................................

7 ADVANTAGES AND DISADVANTAGES..............................

8 APPLICATION AND FUTURE SCOPE......................................

9 CONCULSION............................................................................

10 REFERENCES..............................................................................

11 APPENDIX...................................................................................
 1. INTRODUCTION

Robotics is an evolving technology. There are various approaches to build robots, and no
one is sure which method or technology will be used 100 years from now. Robotics is evolving like
the Darwinian evolutionary theory of survival of the fittest.
The framework equipment comprises of a controller outfitted with Bluetooth
communication module. It’ll be connected to the motors and other alternative components of car.
When the Bluetooth app is turned on and is connected with the current system via Bluetooth, one
will operate the car by giving wireless commands from the app using the functions already
programmed in the app. The vehicle will motion in four directions: Forward, Backward, Right and
Left. In forward movement, all four motors will motion in the same direction and for backward
motion; movement of the motors will be in opposite direction. For left and right movements, either
of the motors will rotate and to stop the motors will stop.
Instructions are given to the motors through the Bluetooth app of Android Smartphone by
the user. In this project, we will deliberate how to control robot controlled car using Bluetooth
module through Bluetooth application of an android mobile phone. The benefit of using robot-
controlled car is it can be used to reduce manual work. This project can be modified quite easily to
include a camera well that can stream the videos to the user over Wi-Fi using WiFi module
1.1 OBJECTIVE OF PROJECT

The aim of our project is to make a Voice Control Robot Car. The working is based on
Arduino micro-controller, motor drivers, a Bluetooth module. Arduino is an open-
source hardware (single-board microcontrollers and kits) used for building digital
devices. The idea is to first design the Hardware of the Robot Car and then code the
entire working using our previous knowledge of programming. The code will then be
simulated on software (IDE) and later be interfaced with the hardware. The
coordination of control unit with Bluetooth gadget is accomplished utilizing a
Bluetooth module to catch and read the voice orders. The controlling remote is a smart
android device with Bluetooth Application

1.2 SCOPE OF THE PROJECT

This task work has been limited to short range Bluetooth module. Utilizing long range
modules and other availability gadgets will bring about network with the robot for
significant distances. Picture preparing can be executed in the robot to distinguish the
shading and the items. A warm camera can be introduced to detect the warmth
produced by bodies valuable in military purposes to distinguish foes on the lines. 4.
Programmed Targeting System can be executed in the robot for following the
objective.
2. LITERATURE REVIEW

 In 2003, Worldwide speculation in modern robots up 19%. In 2004, orders for robots were
up another 18% to the highest level ever recorded. Overall development in the period 2004-
2007 conjecture at a normal yearly pace of about 7%. More than 600,000 family unit robots
being used several millions in the next few years. Various researches have been made by
different researchers in developing this project. Be that as it may, they serve an alternate
application and have various innovations actualized. Some of those papers are mentioned
below stating their technology and application.
 Robot Control Design Using Android Smartphone Authors: Mrumal K Pathak, Javed Khan,
Aarushi Koul, Reshma Kalane Raunak Varshney The motivation behind this paper is to
furnish amazing computational android stages with less difficult robot equipment design.
This paper depicts how to control a robot utilizing portable through Bluetooth
communication, a few highlights about Bluetooth innovation, segments of the versatile and
robot. It present an audit of robots constrained by smart phone by means of moving the
robot upward, reverse, left and right side by the android application, for example,
 Arduino, Bluetooth Smart Phone Controlled Robot Using ATMEGA328 Microcontroller.
Authors : Aniket R. Yeole, Sapana M. Bramhankar, Monali D. Wani, Mukesh P. Mahajan.
In this paper have structured a robot that can be controlled using an application running on
an android smartphone. It sends control order by means of Bluetooth which has certain
highlights like controlling the speed of the engine, detecting and sharing the data with
telephone about the bearing and separation of the robot from the closest hindrance.
 Android Controlled Bluetooth Robot Using 8051 Microcontroller. Authors : Ritika Pahuja,
Narender Kumar. A robot is normally an electro-mechanical machine that is guided by PC and
electronic programming. Numerous robots have been worked for producing reason and can be
found in production lines around the globe. This paper build up the remote fastens in the android
application which control the robot movement with them. What's more, in which Bluetooth
communication is use to interface controller and android.
 Controller is interfaced to the Bluetooth module however UART convention Robot Controlled Car
Using Wi-Fi Module Authors : S R Madkar, Vipul Mehta, Nitin Bhuwania, Maitri Parida This
paper, deliberate how to control robot controlled vehicle utilizing Wi-Fi module through android
application of an android Smart Phone. It is additionally show that the apparatuses can be
controlled even without an android telephone by sending an ordinary SMS.
3. DESIGN

3.1 BLOCK DIAGRAM

[ FIG NO-3.1 BLOCK DIAGRAM OF VOICE CONTROL ROBOT USING ARDUINO]

3.2 CIRCUIT DIAGRAM

3.3 WORKING PRINCIPLE

The block diagram of the simple voice controlled robotic vehicle is given it consists of the
smart phone that recognizes the voice commands and are being wirelessly transferred to the
Bluetooth module HC05. The module at that point changes over the order to content and the
series of characters are sent to the Arduino for additional handling. The Arduino
microcontroller decodes the string got and correspondingly performs further capacities. The
signals are sent to the motor that hence powers and drives the motors connected to it. On the
Transmitter area, commands are given to the Mobile Application through the mic. This
portable handset is associated with the moving vehicle by means of Bluetooth module. The
portable application utilized, is modified so that the voice orders given to the handset are
received by the mic and these simple voice orders are changed over to advanced word
successions (A to D transformation). These stored sequences are than transmitted to the robotic
vehicle via Bluetooth transceiver module and are sent to the transceiver controller. Android
application transceiver is used to decode the received signal with the Bluetooth module. The
controller contrasts these signals and the put away program orders in it and convert them into
voice strings. The voice strings are then used to run the servo engines for the ideal interval of
time. The microcontroller, sends directions, which when executed, helps in working of the
engine driver. The yield of the Arduino goes to the engine driver IC and it controls the specific engine.
A DC power supply is required to run the system. The DC power supply feeds the Microcontroller and
the Bluetooth module.
4. HARDWARE REQUIREMENTS

SL NO COMPONENT NAME SPECIFICATION QUANTITY

1 BATTEY(RECHARGABLE) 12V(EACH 4V,1AMP) 4

2 ARDUINO (UNO) 5V,16MHZFREQ, 2

UNO BOARD R3

3 BLUETOOTH MODULE HC-05 1

4 MOTOR DRIVER CIRCUIT L239D IC 1

5 WHEELS WITH TRACK BELT RUBBER 4,2

6 GEAR MOTOR 200 RPM 4

7 ANDROID PHONE REALME 7 1

4.2 COMPONENTS DESCRIPTION

4.1 ARDIUNO UNO

 Arduino Uno is a microcontroller board developed by Arduino.cc which is an open-

source electronics platform mainly based on AVR microcontroller Atmega328.
 First Arduino project was started in Interaction Design Institute Ivrea in 2003 by David
Cuartielles and Massimo Banzi with the intention of providing a cheap and flexible
way to students and professional for controlling a number of devices in the real world.
 The current version of Arduino Uno comes with USB interface, 6 analog input pins, 14
I/O digital ports that are used to connect with external electronic circuits. Out of 14 I/O
ports, 6 pins can be used for PWM output.
 It allows the designers to control and sense the external electronic devices in the real
world.
 This board comes with all the features required to run the controller and can be directly
connected to the computer through USB cable that is used to transfer the code to the
controller using IDE (Integrated Development Environment) software, mainly
developed to program Arduino. IDE is equally compatible with Windows, MAC or
 Linux Systems, however, Windows is preferable to use. Programming languages like C
and C++ are used in IDE.
 Apart from USB, battery or AC to DC adopter can also be used to power the board.
 Arduino Uno boards are quite similar to other boards in Arduino family in terms of use
and functionality; however, Uno boards don’t come with FTDI USB to Serial driver
chip.
 There are many versions of Uno boards available, however, Arduino Nano V3 and
Arduino Uno are the most official versions that come with Atmega328 8-bit AVR
Atmel microcontroller where RAM memory is 32KB.

 When nature and functionality of the task go complex, Mirco SD card can be added in
the boards to make them store more information.

Features of Arduino Uno Board

 Arduino Uno comes with USB interface i.e. USB port is added on the board to develop
serial communication with the computer.

 Atmega328 microcontroller is placed on the board that comes with a number of

features like timers, counters, interrupts, PWM, CPU, I/O pins and based on a 16MHz
clock that helps in producing more frequency and number of instructions per cycle.

 It is an open source platform where anyone can modify and optimize the board based
on the number of instructions and task they want to achieve.

 This board comes with a built-in regulation feature which keeps the voltage under
control when the device is connected to the external device.

 Reset pin is added in the board that reset the whole board and takes the running
program in the initial stage.

 There are 14 I/O digital and 6 analog pins incorporated in the board that allows the
external connection with any circuit with the board. These pins provide the flexibility
and ease of use to the external devices that can be connected through these pins. There
is no hard and fast interface required connecting the devices to the board. Simply plug
the external device into the pins of the board that are laid out on the board in the form
of the header.
  The 6 analog pins are marked as A0 to A5 and come with a resolution of 10bits. These
pins measure from 0 to 5V, however, they can be configured to the high range
using analogReference () function and AREF pin.

 Only 5 V is required to turn the board on, which can be achieved directly using USB
port or external adopter, however, it can support external power source up to 12 V
which can be regulated and limit to 5 V or 3.3 V based on the requirement of the
project.

[Fig 3.01 ARDIUNO UNO]

4.2 POWER SUPPLY
Power supply is a supply of electrical power. A device or system that supplies electrical or
other types of energy to an output load or group of loads is called a power supply unit or PSU.
The term is most commonly applied to electrical energy supplies, less often to mechanical
ones, and rarely to others. Conversion of one form of electrical power to another desired form
and voltage, typically involving converting AC line voltage to a well-regulated lower-voltage
DC for electronic devices. Low voltage, low power DC power supply units are commonly
integrated with the devices they supply, such as computers and household electronics; for other
examples, see switched-mode power supply, linear regulator, rectifier and inverter
(electrical).The primary function of a power supply is to convert one form of electrical energy
to another and, as a result, power supplies are sometimes referred to as electric power
converters. Some power supplies are discrete, stand-alone devices, whereas
others are built into larger devices along with their loads.
 [Fig. 3.02 block diagram of regulated power supply system]

4.3 MOTOR DRIVER

An electric motor is a machine which converts electrical energy into mechanical

energy. DC motor works on the principle that when a current carrying conductor is placed in a
magnetic field, the conductor experiences a mechanical force. DC shunt motors can be used
where almost constant speed is required and very high starting torque is not required as lathe,
machine tools, centrifugal pump and etc. Series motors are used when very high starting torque
is required such as electric traction, trolley car, crane, etc. cumulative compound motors are
suitable for applications where the load fluctuates such as rolling mills, printing press,
reciprocating type compressors, crusher units, etc. Differential compound motors are rarely
used because of their poor torque characteristics.L293D is a typical Motor driver or Motor
Driver IC which allows DC motor to drive on either direction. L293D is a 16-pin IC which can
control a set of two DC motors simultaneously in any direction. It means that you can control
two DC motor with a single L293D IC. Dual H-bridge Motor Driver integrated circuit (IC).
The l293d can drive small and quiet big motors as well, check the Voltage Specification at the
end of this page for more info.
Concept
It works on the concept of H-bridge. H-bridge is a circuit which allows the voltage to
be flown in either direction. As you know voltage need to change its direction for being able to
rotate the motor in clockwise or anticlockwise direction, hence H-bridge IC are ideal for
driving a DC motor. In a single L293D chip there are two h-Bridge circuit inside the IC which
can rotate two dc motor independently. Due its size it is very much used in robotic application
for controlling DC motors. Given below is the pin diagram of a L293D motor controller. There
are two Enable pins on l293d. Pin 1 and pin 9, for being able to drive the motor, the pin 1 and
9 need to be high. For driving the motor with left H-bridge you need to enable pin 1 to high.
And for right H-Bridge you need to make the pin 9 to high. If anyone of the either pin1 or pin9
goes low then the motor in the corresponding section will suspend working. It’s like a switch.

Fig No. 2.8: L293D Pin Configuration.

Working of L293D
There are 4 input pins for l293d, pin 2, 7 on the left and pin 15, 10 on the right as
shown on the pin diagram. Left input pins will regulate the rotation of motor connected across
left side and right input for motor on the right hand side. The motors are rotated on the basis of
the inputs provided across the input pins as LOGIC 0 or LOGIC 1. In simple you need to
provide Logic 0 or 1 across the input pins for rotating the motor.
L293D Logic Table
Let’s consider a Motor connected on left side output pins (pin 3, 6). For rotating the
motor in clockwise direction the input pins has to be provided with Logic 1 and Logic 0.
1. Pin 2 = Logic 1 and Pin 7 = Logic 0 | Clockwise Direction
2. Pin 2 = Logic 0 and Pin 7 = Logic 1 | Anticlockwise Direction
3. Pin 2 = Logic 0 and Pin 7 = Logic 0 | Idle [No rotation] [Hi-Impedance state]
4. Pin 2 = Logic 1 and Pin 7 = Logic 1 | Idle [No rotation] in a very similar way the
motor can also operate across input pin 15, 10 for motor on the right hand side.
4.4 BLUETOOTH MODULE HC05

HC‐05 module is an easy to use Bluetooth SPP (Serial Port Protocol) module, designed for
transparent wireless serial connection setup. The HC-05 Bluetooth Module can be used in a
Master or Slave configuration, making it a great solution for wireless communication. This
serial port Bluetooth module is fully qualified Bluetooth V2.0+EDR (Enhanced Data Rate)
3Mbps Modulation with complete 2.4GHz radio transceiver and baseband. It uses CSR Blue
core 04‐ External single chip Bluetooth system with CMOS technology and with AFH
(Adaptive Frequency Hopping Feature).
Bluetooth Module HC-05
The Bluetooth module HC-05 is a MASTER/SLAVE module. By default the factory setting is
SLAVE. The Role of the module (Master or Slave) can be configured only by AT
COMMANDS. The slave modules cannot initiate a connection to another Bluetooth device,
but can accept connections. Master module can initiate a connection to other devices. The user
can use it simply for a serial port replacement to establish connection between MCU and GPS,
PC to your embedded project, etc.

Fig.[ 3.06] Bluetooth Module

Pin Description:-

The HC-05 Bluetooth Module has 6pins. They are as follows:

ENABLE:
When enable is pulled LOW, the module is disabled which means the module will not
turn on and it fails to communicate. When enable is left open or connected to 3.3V, the
module is enabled i.e the module remains on and communication also takes place.
Vcc:
Supply Voltage 3.3V to 5V
GND:
Ground pin
TXD & RXD:
These two pins acts as an UART interface for communication
STATE:
It acts as a status indicator. When the module is not connected to pair with any other
Bluetooth device, signal goes Low. At this low state, the led flashes continuously which
denotes that the module is not paired with other device. When this module is connected
to/paired with any other Bluetooth device, the signal goes high. At this high state, the led
blinks with a constant delay say for example 2s delay which indicates that the module is
paired.

BUTTON SWITCH:
This is used to switch the module into AT command mode. To enable AT command mode
press the button switch for a second. With the help of AT commands, the user can change
the parameters of this module but only when the module is not paired with any other BT
device. If the module is connected to any other bluetooth device, it starts to communicate
with that device and fails to work in AT command mode.

HC-05 Default Setting:-

 Default Bluetooth Name: ‚HC-05
 Default Password: 1234 or 0000
 Default Communication: Slave
 Default Mode: Data Mode
 Data Mode Baud Rate: 9600, 8, N, 1
 Default firmware: LINVOR
4.5 12V DC Motor
A DC motor is any motor within a class of electrical machines whereby direct current
electrical power is converted into mechanical power. Most often, this type of motor relies on
forces that magnetic fields produce. Regardless of the type, DC motors have some kind of
internal mechanism, which is electronic or electromechanical. In both cases, the direction of
current flow in part of the motor is changed periodically. One characteristic of a 12v DC
motor is the operating voltage.
When a motor is powered by batteries, low operating voltages are typically preferred
since fewer cells are required to obtain the specified voltage. However, at higher voltages,
electronics to drive a motor are typically more efficient.200RPM Centre Shaft Economy
Series DC Motor is high-quality low cost DC geared motor. It has steel gears and pinions to
ensure longer life and better wear and tear properties.
The gears are fixed on hardened steel spindles polished to a mirror finish. The output
shaft rotates in a plastic bushing. The whole assembly is covered with a plastic ring. Gearbox
is sealed and lubricated with lithium grease and require no maintenance. The motor is
screwed to the gear box from inside.

Fig No. 4.3 : 12v Dc Gear Motor.

Application of D.C. motors:-
1. Starting
2. Speed control
3. Braking
The speed of the machine has to be increased from zero and brought to the operating speed.
This is called starting of the motor. The operating speed itself should be varied as per the
requirements of the load. This is called speed control. Finally, the running machine has to be
brought to rest, by decelerating the same. This is called braking.
The torque speed characteristics of the machine are modified to achieve these as it is assumed
that the variation in the characteristics of the load is either not feasible or desirable. Hence the
methods that are available for modifying the torque speed characteristics and the actual
variations in the performance that these methods bring about are of great importance. When
more than one method is available for achieving the same objective then other criteria like,
initial cost, running cost, efficiency and ease operation are also applied for the evaluation of
the methods. Due to the absence of equipment like transformer, D.C. machine operation in
general is assumed to be off a constant voltage D.C. supply.
Starting of D.C. machines
For the machine to start, the torque developed by the motor at zero speed must exceed
that demanded by the load. Then TM − TL will be positive so also is d! /DT and the machine
accelerate. The induced emf at starting point is zero as the! = 0 the armature current with
rated applied voltage is given by V/Ra where Ra is armature circuit resistance.
Normally the armature resistance of a D.C. machine is such as to cause 1 to 5 percent
drop at full load current. Hence the starting current tends to rise to several times the full load
current. The same can be told of the torque if full flux is already established. The machine
instantly picks up the speed. As the speed increases the induced emf appears across the
terminals opposing the applied voltage. The current drawn from the mains thus decreases, so
also the torque. This continues till the load torque and the motor torque are equal to each
other. Machine tends to run continuously at this speed as the acceleration is zero at this point
of operation

5. SOFTWARE REQUIREMENTS
5.1 ARDUINO

What is an Arduino?
The name is an Italian masculine first name, meaning "strong friend”. It is the Open
Source Hardware board created in Ivrea, Italy in 2005 by Massimo Banzi & David
Cuartielles. Arduino provides a great toolset for designers, tinkers, and anyone who
sometimes just want to play with an idea that uses electronics. The genius of Arduino is that it
provides just enough access to get specific tasks done without programming and other
complexities.
What is an Arduino UNO?
The Arduino Uno is a microcontroller board based on the ATmega328. It has 14 digital
input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz
ceramic resonator, a USB connection, a power jack, an ICSP header, and a reset button. It
contains everything needed to support the microcontroller; simply connect it to a computer
with a USB Cable or power it with an AC-to-DC adapter or battery to get started.
Arduino Specifications:
 Microcontroller ATmega328
 Operating Voltage 5V
 Input Voltage (recommended) 7-12V
 Digital I/O Pins 14 (of which 6 provide PWM output)
 Analog Input Pins 6
 DC Current per I/O Pin 40 mA
 Clock Speed 16 MHz
 Flash Memory 32 KB (ATmega328) of which 0.5 KB used by boot loader
 SRAM 2 KB (ATmega328)
 EEPROM 1 KB (ATmega328)

Arduino Programming IDE:

The Arduino community calls a program a sketch. This is because the Arduino was
originally written for artists and hobbyists. The Arduino IDE (Integrated Development
Environment) lets you write sketches (also known as programs) that Provide instructions
telling the Arduino board what to do and how to do it.
1. You can download in the IDE from www.arduino.cc/en/Main/software install on your
computer.
2. Open the Arduino IDE
3. To establish connection between Arduino and Computer using USB-B cable, plug the
USB-B cable to the Arduino and Connect it with any one of the USB ports on your computer.
Then go to Tools > Serial Port and choose COM.

Fig. 2.12(a) port selection

4. To ensure that you are setup to program the correct board, go to Tools > Board and select
the board that you are using. Make sure there is a check mark next to the board you are using.

Fig. 2.12(b) board selection

5. To check programs for errors before uploading, click the top left button with a check
mark.
6. To upload programs to the board, click the button with an arrow on the top bar.

Fig. 2.12(c) compiling, uploading and other information

An Arduino program is structured in four parts.

 FIRST: Begin with some comments about the program
 SECOND: List variables and constants that all the functions may use. Variables
are names for memory locations that a computer can use to store information that
might change. Constants are numbers that won't change.
 THIRD: Run the setup () function to get the system ready to run the loop ()
function. This is where you perform tasks that you want done once at the
beginning of your program.
  FOURTH: Run the loop () function. This is where you run things in a sequence
from the top of the loop to the bottom of the loop, and then you start over again at
the top, looping until the machine gets turned off.

5.2 ARDIUNO BLUETOOTH CONTROLLER

5.3 FLOWCHART

6. RESULTS
Steps to control the robotic vehicle.
 Install any Bluetooth Application for Arduino
 Pair HC-05 Bluetooth module with the mobile
 Default password is “1234” or “0000” Click on the “MIC” icon and speak/instruct the
robot
 On speaking our speech gets recognized and converted into text. That text is
transferred using Bluetooth
 The Bluetooth Module receives the string, decodes it and compares it with the
Instructions that are described in the program and moves the robot in forward
direction

Through our Design and implementation of our proposed system, we are able to achieve the
following as results:
1. . Robot is controlled through voice commands given by the user who is
operating the project.
2. These voice command needs to be given through an android app which is
installed on the users android mobile.

7. ADVANTAGES AND DISADVANTAGES

 ADVANTAGES

3. The Robot is small in size, therefore less space required.

4. We can access the robot vehicle from the distance of meters as we are using
WIFI for the connection between robot and the server PC.
5. As we are us camera which is attach to the robot so it will capture video
which will be used for security.
6. Low power consumption.
7. No accident is done by improper driving of people and also available for
elderly and disabled people
DISADVANTAGES
1. High cost for making automation.
2. High maintaines is required

8. APPLICATION AND FUTURE SCOPE

APPLICATION
Some real-world applications of this voice-controlled Robot are:

1. The robot is useful in places where humans find difficult to reach but human
voice reach. Such asin fire situations, in highly toxic areas.

2. The robot can be used for monitoring or investigation.

3. The voice controlled robotic car can be easily drive by unskilled driver by using
voice commands with the help of android application in smart phone.

FUTURE SCOPE
1. This task work has been limited to short range Bluetooth module. Utilizing a long
range module and other availability gadgets will bring about network with the
robot for significant distances.

2. Picture preparing can be executed in the robot to distinguish the shading and the
items.

3. A warm camera can be introduced to detect the warmth produced by bodies

valuable in military purposes to distinguish foes on the lines.

4. Programmed Targeting System can be executed in the robot for following the
objective.
 5. Further upgrade in venture can be utilized for Home security and military
purposes where the orders can be given to robot without chance by expanding the
range and by introducing cameras.

6. The robot is valuable in places where people discover hard to reach however
human voice comes to. For example, in fire circumstances, in profoundly
poisonous zones.

7. It is the one of the significant phase of Humanoid robots.

8. Discourse and voice acknowledgment security frameworks.

9. The robot can be used for monitoring or investigation.

9. CONCULSION
The proposed framework of our project shows that how a robot can be control utilizing
Bluetooth. The voice controlling orders are effectively transmitted through Bluetooth
innovation and the desired activities effectively happen. This task lessens human
endeavours at spots or circumstances where human intercessions are troublesome. Such
frameworks can be brought into utilization at spots, for example, businesses, military and
guard, investigate purposes, and so forth.
10. REFERENCES
[1] Design of a Bluetooth Enabled Android Application for a Microcontroller Driven
Robot By Vito M. Guardi,(May 2014).
[2] Android Controlled Mobile Robot By Jorge Kazacos Winter,(July2013).
[3] Android Based Robot Implementation For Pick and Retain of Objects By Ranjith
Kumar Goud, B. Santhosh Kumar, (Oct 2014).
[4] Smart phone based robotic control for surveillance applications By M.Selvam,(IJRET
2014) [5] Controlling a Robot using Android Interface and Voice By Kishan Raj KC,
(2012).
[6] Motion Control of Wheeled Mobile Robot By Gyula Mester,(SISY 2006)
[7] Design of PI and PID Controllers with Transient Performance Specification By J. C.
Basilio and S. R. Matos,(IEEE 2002).
[8] Robot Control Design Based On Smartphone by Xiao Lu, Wenjun Liu, Haixia Wang,
Qia Sun, IEEE, 978-1-4673-1382, pp-2820-2823, Jun 2013.
[9] Android phone controlled robot using Bluetooth by Arpit Sharma, Reetesh Verma,
Saurabh Gupta, Sukhdeep kaur bhatia, IJEEE, Vol.7,pp-443-448, Nov- 2014
APPENDIX-A SOURCE CODE