Centurion University of Technology and

Management
Parlakhemundi campus

Robotics Automation with ROS C++

CUTM1020
Project Report on –

WIRELESS BLUETOOTH CONTROL

ROBOT USING ARDUINO
B tech in Computer Science & Engineering
Semester-3

Presented by;

M.SYAMALA – 210101120103
PRANAB KUMAR SEN – 210101120108
ANKITA PRADHAN – 210101120109
RASHMITA KUMARI PRADHAN – 210101120110
RAUSHAN KUMAR - 210101120112

Guided by- RAJESH MIAHRA

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 BONAFIDE CERTIFICATE

Certified that this project report is the Bonafide work of

WIRELESS BLUETOOTH CONTROL ROBOT
USING ARDUINO
“GROUPNAME- M.SYAMALA(103), PRANAB KUMAR SEN(108), ANKITA
PRADHAN(109), RASHMITA KU. PRADHAN (110), RAUSHAN KUMAR (112)
who carried out the project work under my supervision. This is to further
certify to the best of my knowledge, that this project has not been carried out
earlier in this institute and the university.

SIGNATURE

(Signature of Supervisor)

Certified that the above-mentioned project has been duly carried out as per
the norm of the college and statutes of the university

SIGNATURE

RAJESH MIAHRA
ASSISTANT PROFESSOR

DEPARMENTAL SEAL

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 Acknowledgement

The project couldn't be completed without the efforts and cooperation of all our
group members. This work has been the most exciting part of our learning
experience, which would be an asset for our future career.

We would like to express our sincere gratitude to our mentor RAJESH

MISHRA for his guidance and constant support with the valuable suggestions
imparted to us during our work, thereby providing us with all the necessary
information fordesigning and developing the project. We are also indebted to
the encouragement and exclusive help without which we would have been
lacking for something. Knowledge in itself is a continuous process and getting
practicalknowledge is an important aspect in development. We are also greatly
thankfulto our friends who have helped us in completion of this project directly
or indirectly by being constant source of support and inspiration.

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 Abstract

Robot is a reprogrammable, multifunctional device which is primarily designed to do work

like human such as pick and place, loading and unloading, surveillance, health care,
industrial, aerospace application. Robots can perform dangerous and accurate work to
increase the productivity as they can work 24 hours without rest. This paper deals with the
design and control of automated vehicle type robot which can move in desired direction
and captures pictures and videos of required location. An android application has
developed using MIT App inventor and a bluetooth communication is made with robot
which interfaces with microcontroller to control its speed and direction. Aim of this work
is to design and control the motion of robot using bluetooth device of an Android phone.

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 TABLE OF CONTENTS

CHAPTERS PAGE NO.

CHAPTER-1 INTRODUCTION 6-8
1.1 ROBOT
1.2 SENSOR
1.3 BLUETOOTH TECHNOLOGY
CHAPTER-2 9-10
2.1 LITERATURE REVIEW
CHAPTER-3 11-12
3.1 BLOCK DIAGRAM
3.2 CIRCUIT DIAGRAM
3.3 FLOW CHART
CHAPTER-4 13-14
4.1 ARDUINO UNO R3
4.2 ULTRASONIC SENSOR
4.3 BLUETOOTH MODULE
4.4 L298N MOTOR DRIVER
CHAPTER-5 15-16
CODING
CHAPTER-6 17
6.1 CONCLUSION
6.2 FEATURES
6.3 RESULT
CHAPTER-7 18
REFERENCE

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 CHAPTER-1

INRODUCTION

1.1 ROBOT

Robot is an intelligent device having its own brain fed with computer logic so that it can

do the work according to the algorithm designed. Autonomous movement of vehicle is

guided by the logic controller designed. Robots plays an important role in each every field

of life. It is used in industries, in households and in institutes. The robots are just becoming

as intelligent as human now a days. Mostly an average human uses 2-3 robots per day in

his day to day life. Various robotics parts are:-  Pneumatic devices  Actuators 

Sensors  Mechanical control devices like valve  Microcontroller – Controlling unit

Mechanical control devices are used to control the flow or movement of materials or any

other parts present in the device. Actuators are used for controlling a mechanism which

ultimately controls a part of the device. Sensors are the sensing devices which transmit a

signal and receives the signal and accordingly used to accumulate the various environment

information which is ultimately fed to microcontroller for deciding the working of

machines. Microcontroller is the brain of robot where program is written and sensors are

connected as input and actuators as output. The controlling of the robot is governed by

various algorithms like fuzzy controller, machine learning based practices and artificial

neural network based algorithms. Depending upon the environment value received to the

controller it eliminates the error and transits from one state to another. Basically there are

two types of controllers ,one is continuous controller and another is PID based controller

.Continuous controller is more direct and less effective while PID controller is more

advanced and varies according to the current state and gives efficient result.

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1.2 SENSORS

Sensor plays a very important role in every type of robot. Various types of sensors are present.

A sensor is a transducer whose intention is to sense (that is, to distinguish) some normal for its

environs. It identifies occasions or changes in amounts and gives a relating yield, by and large

as an electrical or optical sign; for instance, a thermocouple changes over temperature to a yield

voltage. In any case, a mercury-in-glass thermometer is additionally a sensor; it changes over

the deliberate temperature into development and construction of a fluid which can be perused

on an adjusted glass tube. Sensors are utilized as a part of ordinary questions, for example,

touch-touchy lift catches (material sensor) and lights which diminish or light up by touching

the base, other than endless utilizations of which the vast majority are never mindful. With

advances in micro machinery and simple to-utilize microcontroller stages, the employments of

sensors have extended past the more customary fields of temperature, weight or stream

measurement, for instance into MARG sensors. Besides, simple sensors, for example,

potentiometers and power detecting resistors are still generally utilized. Applications

incorporate assembling and apparatus, planes and aviation, autos, solution and apply autonomy.

A sensor's affectability shows how much the sensor's yield changes when the data amount being

measured changes. Sensor is mainly consists of transducers, operational amplifiers. Transducer

converts any physical signal to electrical signal. Basically the electricalsignal present in very

small range. So we have to use amplifiers which provides very high gainand increases the signal

to volt range. Among various types of sensor major sensors are ultrasonic distance

measurement sensor, sound sensor, pressure sensor, touch sensor, temperature sensor, and field

sensor.

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1.3 Bluetooth Technology

Bluetooth wireless technology is a short range communications technology

intended to replace the cables connecting portable unit and maintaining high
levels of security. Bluetooth technology is based on Ad-hoc technology also
known as Ad-hoc Pico nets, which is a local area network with a very limited
coverage.
WLAN technology enables device connectivity to infrastructure based services
through a wireless carrier provider. The need for personal devices to
communicate wirelessly with one another without an established infrastructure
has led to the emergence of Personal Area Networks (PANs). Bluetooth
specification details the entire protocol stack. Bluetooth employs Radio
Frequency (RF) for communication. It makes use of frequency modulation to
generate radio waves in the ISM band.
The usage of Bluetooth has widely increased for its special features. Bluetooth
offers a uniform structure for a wide range of devices to connect and
communicate with each other. Bluetooth technology has achieved global
acceptance such that any Bluetooth enabled device, almost everywhere in the
world, can be connected with Bluetooth enabled devices. Low power
consumption of Bluetooth technology and an offered range of up to ten meters
has paved the way for several usage models. Bluetooth offers interactive
conference by establishing an adhoc network of laptops. Bluetooth usage model
includes cordless computer, intercom, cordless phone and mobile phones.

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 CHAPTER 2

2.1LITERATURE REVIEW

Wireless control is one of the most important basic needs for all people all over the world.

Bluetooth is one of the most used wireless technologies. A Bluetooth control car is such a car

that can be controlled wirelessly using a Bluetooth control system and Arduino. With the

combination of Arduino, and Bluetooth we can control many other things, like home Lighting,

air conditioners, and many more through our cell phones. The Arduino can also contribute at

large to the Smart Home system. Nowadays it has made us easier to convert digital signals into

physical movements with such microcontrollers.

Today people are using autonomation in every sector. There are many benefits, for example, it

reduces the risk of injury, it is fast, it can work day long, it is reliable, etc. This Bluetooth control

car is just an example of autonomation. This type of car is used in law enforcement and military

engagements for some the reasons like Hazard exposure which is controlled from a location of

relative safety. Such vehicles are used by many police department bomb squads to defuse or

detonate explosives.

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10
 CHAPTER 3

3.1 BLOCK DIAGRAM

3.1 Block Diagram

3.2Circuit diagram

3.2 Circuit diagram

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3.3 FLOW CHART

3.3 FLOW CHART WIRELESS

BLUETOOTH CONTROL ROBOT
USING ARDUINO

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 CHAPTER 4

4.1 ARDUINO UNO R3

. The Arduino Uno R3 is a microcontroller board based

on a removable, dual-inline-package (DIP) ATmega328

AVR microcontroller. It has 20 digital input/output pins

(of which 6 can be used as PWM outputs and 6 can be used 4.1 ARDUINO UNO

as analog inputs). Programs can be loaded on to it from the easy-to-use Arduino computer

program. The Arduino has an extensive support community, which makes it a very easy way

to get started working with embedded electronics. The R3 is the third, and latest, revision of

the Arduino Uno

4.2 Ultrasonic Sensor

Ultrasonic sensors are used primarily as proximity sensors. They can be found in automobile

self-parking technology and anti-collision safety systems. Ultrasonic sensors are also used in

robotic obstacle detection systems, as well as manufacturing

technology. In comparison to infrared (IR) sensors in proximity

sensing applications, ultrasonic sensors are not as susceptible to

interference of smoke, gas, and other airborne particles (though the

physical components are still affected by variables such as heat).

4.2 Ultrasonic Sensor

Ultrasonic sensors are also used as level sensors to detect, monitor,

and regulate liquid levels in closed containers (such as vats in chemical factories). Most

notably, ultrasonic technology has enabled the medical industry to produce images of internal

organs, identify tumors, and ensure the health of babies in the womb.
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4.3 Bluetooth module

Bluetooth module (Bluetooth module) refers to the basic

circuit set of the chip with integrated Bluetooth function,
used for short-range 2.4G wireless communication module.
For the end user, the Bluetooth module is a semi-finished
product

4.4 Driver Robot Chassis

The auto throttling robot driver for chassis dynamometer consists of a real time controller,

which controls the throttle of a vehicle to maintain the vehicle

speed as per driving cycle. Advantage of the system is to run

repeatable drive cycles on the chassis dynamometer without

human intervention. 4-Wheel Robot Chassis Kit, an easy to

assemble and use robot chassis platform. The Chassis kit provides

you with everything you need to give your robot a fast four wheel
4.4 Driver Robot
drive platform with plenty of room for expansion to add various Chassis

sensors and controllers.

4.5 L298N MOTOR DRIVER

The L298N Motor Driver is a controller that uses an H-

Bridge to easily control the direction and speed of up to 2

DC motors

4.5 L298N MOTOR DRIVER

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 CHAPTER 5

COADING

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16
 CHAPTER 6
6.1 CONCLUSION

This project consists of a basic prototype of a Bluetooth control car above stated. The prototype
car can recognize commands from users and can turn the car left, right, and stop with great
accuracy. It can be further improved by using different sensors like ultrasonic or infrared and
with various levels of coding.
Our Bluetooth control car has a range of 10-20 meter with the mobile Bluetooth controlling
system. The range mostly depends on the receivers transmission level.
In the future, we could use rechargeable batteries like Ni-Cd Battery or Li-ion batteries that
could avoid the present disadvantage. Also, we could make use of this RC Motor Car as a
surveillance system or rovers by adding a few more sensors and updating the code. This would
make them into robots. These robots could self-monitor under any human supervision, thereby
reducing manpower. These are just the alternatives, on which this project could be improvised
and updated

6.2 FEATURES
The robot can move forward, backward, left, and right and can also be stopped. The
Arduino's Bluetooth-controlled robot car is interfaced with a Bluetooth module HC-05 or
HC-06. We can give specific voice commands to the robot through an Android app
installed on the phone.

6.3 RESULT

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 CHAPTER 7

REFERENCE

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