Ahsanullah University of Science & Technology

Department of Computer Science & Engineering

Human Following Robot

Microprocessors and Microcontrollers Lab (CSE3118)

Course Instructors: Farzad Ahmed & Ashna Nawar Ahmed

A/A2 (Group: 05 )
Submitted By:
Nafiur Rahman Konok……………. 20200104030
Arafat Islam Shopnil……………..20200104031
Tabassum Haque Susmita……………..20200104034
Ashraf Ahmed Sizan……………..20200104044

Objective:
There is always a motive behind a vision. In this rapid moving world, now there is a need of
robot such as “A Human Following Robot” that can interact and co-exist with them. The
development of robot technology had increased significantly due to industrial, medical and
military applications. Tasks performed by humans have its own limitations in many ways. The
main objective of this dissertation is to make a robot that can help humans with various tasks.
Here, we present a prototype of a human following robot that uses Arduino Uno and different
sensors for detection and following an object. Which can carry heavy goods in different
purposes.

Social Values:

Robots eliminate dangerous jobs for humans because they are capable of working in hazardous
environments. They can handle lifting heavy loads, toxic substances and repetitive tasks. This has helped
companies to prevent many accidents, also saving time and money. Even in case of medical term it is
helpful for those who are physically disable. So by using these robots they can easily transfer their daily
essential things from one place to another. Which will save their valuable time and relief their workload.

Required Component:

To complete this project, you'll need the parts and equipment listed below.

 ARDUINO UNO
 Ultrasonic Sensor
 TT Gear Motor (4x)
 Servo Motor (SG90)
 L293D motor Driver module
 Infrared Sensor
 Small Breadboard with power supply
 18650 Rechargable Li-on Battery (2x)
 Wheel 4pcs
 Acrylic Sheets
 4WD SMART ROBOT CHASSIS KIT
 Finger Print Sensor
Working Procedure:
ARDUINO UNO: It is the brain of our project. It can give all the command to their sub ordinate
components which should by operated by the human behavior . And it also give feedback to the
other components and human. So that it can be the used as a medium of communication between
human and robots & vice versa. . It has specification of 8 bit CPU, 16 MHZ clock speed, 2 KB
SRAM 32 KB flash Memory, 1 KB EEPROM.

Ultrasonic Sensor: An ultrasonic sensor is an instrument that measures the distance to an object
using ultrasonic sound waves. The working principle of this module is simple, it sends an
ultrasonic pulse out at 40kHz which travels through the air and if there is an obstacle or object, it
will bounce back to the sensor. By calculating the travel time and the speed of sound, the
distance can be calculated.

Servo Motor: Servos operate on the PWM (Pulse Width Modulation) principle, which means
the strength of the pulse applied to the Control PIN determines the angle of rotation. The basic
components of a servo motor are a DC motor, a variable resistor (potentiometer), and some
gears. Servos can rotate from 0 to 180 degrees, however depending on the manufacturing
process, they can also rotate up to 210 degrees. Applying the appropriate width electrical pulse to
its Regulate pin will control the degree of rotation. Every 20ms, the servo examines the pulse.
The servo may rotate to 0 degrees with a pulse of 1ms (1 millisecond) width, 90 degrees (the
neutral position) with a 1.5ms pulse, and 180 degrees with a 2ms pulse.

L293D motor Driver module: The L293D is a 16-pin motor driver IC that has the ability to
simultaneously operate two DC motors in either direction. The L293D can deliver bidirectional
drive currents up to 600 mA (per channel) at voltages ranging from 4.5 V to 36 V (at pin 8!). It
can be used to control toy motors, which are miniature dc motors.

IR Sensor: IR sensor is an electronic device, that emits the light in order to sense some object of
the surroundings. An IR sensor can measure the heat of an object as well as detects the
motion.Usually, in the infrared spectrum, all the objects radiate some form of thermal radiation.
These types of radiations are invisible to our eyes, but infrared sensor can detect these radiations.
The emitter is simply an IR LED (Light Emitting Diode) and the detector is simply an
IRphotodiode.
 Fig: Circuit Diagram & Connection

Human following is a technique used by robot and autonomous vehicles to follow a human within a
specific range. In this case, communication between the human and the robot is the most significant factor
where sensor is needed to ensure its successfulness. Ultrasonic sensor is preferred for human following
robot due to its wide detection area, less light dependency, the ability to detect glass and shining wall,
smaller in size, lightweight, use a very low memory, cheaper than Laser Range Finder (LRF) or camera
and lower power consumption. However, being a specular type of sensor and not narrowly focused, this
can cause wrong estimation and recognition of human, especially at the legs. Therefore, necessary
accompanying algorithms should be developed to encounter this issue. Here, one pieces 40 kHz ultrasonic
sensors are mounted on the four-wheeled mobile robot platform. Ultrasonic sensors used to detect the
objects and the data collected from the sensors were used upon the design of sensor platform. In order to
detect objects, the sensor platform was tested repeatedly to obtain optimum data. The data which have
been collected from the ultrasonic sensor will then be interfaced with Arduino software. Thus, this project
outlines a set of benchmarks for human following and briefly evaluates its performances. The results were
good, where the implementation of this algorithm is able to produce an accurate decision.
Budget Comparison:

This was our Estimated budget

EQUIPMENT QUANTITY BUDGET

ARDUINO UNO 1 1400

Ultrasonic Sensor 1 200

Motor Driver Shield 1 300

Wheels 4 300

TT Gear Motor 4 400

Servo Motor 1 200

Infrared Sensor 2 600

18650 Rechargeable Li-on Battery 2 500

18650 Battery Holder 1 100

Male to Female Jumper Wires As required 100

Acrylic Sheets 1 300

DC Power Switch 1 150

Others As required 1000

Total 5550

Our original budget estimation for this project was 5550 BDT. However, the final expenditure
for the project was around 4870. We haven’t use any extra cost rather than finger print sensor
and extra Servo Motor that were required to complete the project. So, the budget doesn’t cross
the estimated budget.
Contribution of Team-Members:

Our team consisted of four members, and each member contributed to different aspects of the
project. Here's a breakdown of the percentage of work done by each member:
1. Md. Nafiur Rahman Konok ID: 20200104030 (25%)
2. Md. Arafat Islam Shopnil ID: 20200104031 (25%)
3. Tabassum Susmita ID: 20200104034 (25%)
4. Ashraf Ahmed Sizan ID: 20200104044 (25%)

Challenges of the project:

During the development of the project, we faced a few challenges that required us to think
creatively and work collaboratively. One of the primary challenges we encountered was in
programming the fingerprint sensor. We had to ensure that the sensor could accurately recognize
the fingerprints of the particular registered users and differentiate them from unauthorized users.
We also faced challenges in designing and implementing the user interface, which needed to be
intuitive and user-friendly. It was a time-consuming process to ensure that the user interface was
accessible to the real user and could provide a great experience to the user.

Conclusion:

A successful implementation of a prototype of human following robot is illustrated in this

project. This robot does not only have the detection capability but also the following ability as
well. While making this prototype it was also kept in mind that the functioning of the robot
should be as efficient as possible. Tests were performed on the different conditions to pin point
the mistakes in the algorithm and to correct them. The different sensors that were integrated with
the robot provided an additional advantage. The human following robot is an automobile system
that has ability to recognize obstacle, move and change the robot's position toward the subject in
the best way to remain on its track. This project uses arduino, motors different types of sensors to
achieve its goal. This project challenged the group to cooperate, communicate, and expand
understanding of electronics, mechanical systems, and their integration with programming.