ARDUINO BASED VOICE CONTROLLED ROBOT

VEHICLE

A THESIS SUBMITTED IN PARTIAL FULFILLMENT

OF THE REQUIREMENT FOR THE DEGREE OF

BACHELOR OF TECHNOLOGY
IN
ELECTRONICS AND COMMUNICATION ENGINEERING

SUBMITTED BY
Name Univ. Roll No.
ROHIT KUMAR JASHWARA 10800319070
GOURAV RAJ 10800319077
SACHIN KUMAR 10800319076
ADITI RAJ 10800319041
MUKESH KUMAR SAW 10800319083
RITESH ANAND 10800319008

UNDER THE GUIDANCE OF

MRS. SWATI BHATTACHARJEE
Assistant/Associate Professor

DEPARTMENT OF ECE
ASANSOL ENGINEERING COLLAGE
AFFILIATED TO
MAULANA ABUL KALAM AZAD UNIVERSITY OF TECHNOLOGY
MAY 2023
 DEPARTMENT OF ECE ENGINEERING
ASANSOL ENGINEERING COLLEGE
Vivekananda Sarani, Kanyapur, Asansol, West Bengal – 713305

Certificate of Recommendation

I hereby recommend that the preliminary thesis report entitled, “ARDUINO

BASED VOICE CONTROLLED ROBOT VEHICLE” carried out under my
supervision by the group of students listed below may be accepted in partial
fulfillment of the requirement for the degree of “Bachelor of Technology in ECE
Engineering” of Asansol Engineering College under MAKAUT.
Name Univ. Roll No.
ROHIT KUMAR JASHWARA 10800319070
GOURAV RAJ 10800319077
SACHIN KUMAR 10800319076
ADITI RAJ 10800319041
MUKESH KUMAR SAW 10800319083
RITESH ANAND 10800319008

…………………………………
Mrs. Swati Bhattacharjee

Countersigned:

……………………………… ………………………………
Mr. Sujit Goswami, AP, ECE Dr. Kuntal Ghosh
(Project Coordinator) (Head of the Department)
ECE Department ECE Department
Asansol Engineering College, Asansol Engineering College,
Asansol-713305 Asansol-713305

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 DEPARTMENT OF ECE ENGINEERING
ASANSOL ENGINEERING COLLEGE
Vivekananda Sarani, Kanyapur, Asansol, West Bengal – 713305

Certificate of Approval

The forgoing thesis is hereby approved as creditable study of an engineering

subject carried out and presented in a manner satisfactory to warrant its acceptance as
prerequisite to the degree for which it has been submitted. It is understood that by this
approval the undersigned does not necessarily endorse or approve any statement
made, opinion expressed or conclusion drawn therein but approve the thesis only for
the purpose for which it is submitted.

…………………………………

Mrs. Swati Bhattacharjee

Thesis Supervisor

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 Acknowledgement

It is my great privilege to express my profound and sincere gratitude to our Project

Supervisor, Mrs. Swati Bhattacharya for providing me a very cooperative and precious
guidance at every stage of the present project work being carried out under her
supervision. Her valuable advice and instructions in carrying out the present study has
been a very rewarding and pleasurable experience that has greatly benefited me
throughout the course of work.

We would like to convey my sincere gratitude towards Dr. Kuntal Ghosh, Head of the
Department of ECE, Asansol Engineering College for providing us the requisite support
for time completion of our work. We would also like pay my heartiest thanks and
gratitude to all the teachers of the Department of ECE, Asansol Engineering College for
various suggestions being provided in attaining success in our work.

I would like to express my earnest thanks to my other colleagues along with all
technical staffs of the Department of ECE, Asansol Engineering College for their
valuable assistance being provided during my project work.

Finally, I would like to express my deep sense of gratitude to my parents for their
constant motivation and support throughout my work.

………………………………… ……………………………
(Rohit Kumar Jashwara) (Ritesh Anand)

…………………………………
(Gourav Raj)

…………………………………
(Sachin Kumar)

…………………………………
(Aditi Raj)

…………………………………
(Mukesh Kumar Saw)

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 Abstract

In this final report I will mention about Our Final Year project. Our project is a Arduino
based voice controlled Robot Vehicle. In this project our aim is to control the Robotic
Vehicle with our speech. We are going to use a Phone to take Our voice Command
through the app which will be made by us specifically and then just simply provide it to
the Arduino to process it and match the pre-provided codes for the command the then
moves the vehicle according to the command provided. We will just use the Bluetooth to
transmit the voice command from the phone to the Arduino and process it accordingly.
We want to understand how to make speech recognition program and sending this
program result to a Robotic Vehicle wirelessly and real time. The Processed command
will be sent to the motor driver and the motor driver will move the robotic vehicle
according to the provided command with the help of the 4-motor connected to each
wheel.

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 Table Of Contents
Abstract...................................................................................................................................
Table of contents....................................................................................................................
List of figures........................................................................................................................iii
1. Introduction.......................................................................................................................
1.1 Literature
Survey………………………………………………………………..2

1.2 Development of the

Model……………………………………………………...3

1.3 Voice and Speech, Voice Input and Speech Recognition.......................................

1.4 Radio Frequency and Frequency Modulation.........................................................
1.5 Arduino Device.......................................................................................................
1.6 Computer to Arduino Communication....................................................................
1.7 Bluetooth communication.......................................................................................
2. Technical Content..............................................................................................................
2.1. Identification and Significance of Problem............................................................
2.1.1 Speech Recognition Applications Benefits for World...................................
2.1.2 Wireless Communication’s Benefits..............................................................
2.1.3 Radio Frequency system’s Benefits.............................................................10
2.1.4 Using Motors’ Benefits................................................................................10
2.1.5 Using Arduino Benefits................................................................................11
2.1.6 Bluetooth’s Benefits.....................................................................................12
2.2. Technical Background.........................................................................................12
2.3. Technical Objectives............................................................................................22
2.3.1 Speech Recognition......................................................................................25
2.3.2 Arduino and Bluetooth part of the project...................................................37
2.3.3 Code used in Arduino ...………………………………………………...39

2.3.4 Speech Recognizing Working Plan..............................................................41

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 2.3.4 DC Motor Controlling Plan..........................................................................41
2.3.5 Arduino Controlling Plan.............................................................................41
2.3.6 Bluetooth Communication Plan...................................................................42
2.3.7 Deliverables..................................................................................................43
CONCLUSION………………………………………………………………………….45
FUTURE WORK………………………………………………………………………..46

REFERENCES.....................................................................................................................47

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 LIST OF FIGURES
Fig1.Circuit Diagram 10

Fig.2. Block Diagram of Voice Controlled Robot 11

Design 1.1: Design level for Voice controlled car project 14

Figure 2.1: vocal fold vibration [1] 19

Figure 2.2: speech production physiology [2]. 20

Figure 2.3: block diagram of speech production [2]. 20

Figure 2.4: (a) standard condenser microphone circuit, 21

(b) electret condenser microphone. [3] 21

Figure 2.5: electret microphone cartridge. [3] 21

Figure 2.6: right word’s spectrum in time and

frequency recorded by Eren Okur and drawn by MATLAB software. 22

Figure 2.7: two input canceling approach [5]. 23

Figure 2.16: dc motors inside’s schematic. [16]. 24

Figure 2.19: Frequency modulation. [19]. 25

Figure 2.20: fundamentals for digital modulation characteristics. [19]. 25

Figure 2.21: PSK modulation system characteristics. [19]. 26

Figure 2.22: FSK modulation system characteristics. [19]. 26

Figure 2.23: FSK modulation system characteristics. [20]. 27

Figure 2.25: Arduino software an empty page screen shoot. 28

Figure 2.26: Adafruit’s motor shield circuit. [22] 30

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Figure 2.27: Bluetooth master and slave network. [23] 31

Fig.3.Developed Robot 32

Fig.4 Default state of the Mobile Application 32

Fig.5.Connecting to HC-05 Bluetooth Module 33

Fig.6. Application connected to HC-05 33

Fig.7. Tapping on the mic symbol will enable this dialog box 34

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 1. INTRODUCTION
Our aim is to make a robot vehicle which can be controlled by the voice command of a
person. Normally these types of systems are called as Speech Controlled Automation
System (SCAS). Our design is a prototype of the above-mentioned system. The idea is to
create a sort of robot which going to be driven by voice commands. The robot is
remotely controlled by a mobile phone; there are many articles that show the
communication between a robot and smart phone. In this design, an android application
with a micro controller is used for the required task. The connection between the
application and the robot is facilitate with Bluetooth technology. The commands issued
will be relayed over through the channel and will be received by the module. The
objective of voice controlled robotic vehicle (VCRV) is to listen and act on the
commands of the user. Here the system requires accent training, post which the device
will start understanding the commands issued; and the commands have been added by
codes. The main goal is to control the robotic vehicle in a desired position and also to
control the robot by the voice or push buttons. Human Robotic Interaction is achieved.
The goal of voice-controlled Robot is to listen and act on the commands received from
the user.

Speech signals are the most important means of communication in human beings.
Almost every conversation to interact is done by means of voice signals. Sounds and
various speech signals can be converted into electrical form using a microphone. Voice
recognition is a technology which is used to convert the speech signals into a computer
text format. This voice recognition technology can be used to control and generate
speech acknowledgement using some external server. Robot voice has the ability to
understand thousands of voice commands and perform required action. The voice
recognition is a bit difficult task because each person has his own accent.

For that, Robot voice uses Bit Voicer Server which supports 7 languages from 26
countries and regions. These robotic assistants can be used for shaping, manufacturing
and tooling purposes in various sectors such as manufacturing, defence etc. In hospitals,
these robotic assistants can be used for the purpose of performing surgeries and

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operations with high precision. In this paper, we develop an assistant robot that can be
operated using speech commands.

1.1 LITERATURE SURVEY

In the research work [1] authors proposed a Voice Controlled Robot is operated by using
ZIGBEE module and a camera is set on the head of the vehicle to get the live feed of the
actions commanded and At mega 2560 is used to drive the servo motors”.

In another work [2] we find that a Voice Controlled Robotic Car is operated by using
Bluetooth Module and four motors are used to operate the vehicle by the motor driver
and the command pre-fed in the Arduino Uno and the command are given through the
software.

In another work [3] we find that the Voice Controlled Robotic Vehicle is based on Texas
Board MSP432P401R is connected to TI-RSL kit and is Communicated through Wi-Fi
Module CC3100 interfaced to and android application and Blynk to transmit the voice
commands and a camera is fed to view the live streaming of the actions commanded.

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 1.2 DEVELOPMENT OF MODEL

The proposed system design based on micro-controller connected to smart android phone
through Bluetooth module for receiving voice command. The voice command is
converted to text by an app of the android phone and sends necessary data to the micro-
controller for controlling robot movement. After receiving the data, the robot responses
according to the command to perform movement at proper direction according to the
voice command. In Our project micro controller is associated to user smart phone
through Bluetooth module for the reception of voice commands. The received voice
commands will be converted to text by application available in user’s android smart
phone and sends the required data to the micro controller for the movement of robot.
After receiving command robot makes a proper movement with specified direction
according to the given voice command. The development of a voice-controlled robot is
demonstrated with ability to follow voice command from user and does communicate
with user by using pre-recorded human voice sound. The movement of the proposed
robot will be controlled by the voice command of the user. The user uses an android
operated smart phone to give voice command. The command can be fetched using an
app which will convert the voice command into text. The phone will be connected to the
micro controller using a Bluetooth module.

Advantage of Proposed System: -

1. System follows user friendly approach.
2. The system consumes very less power (upto 30W).
3. Voice Commands are transmitted and received through wireless serial
communication with the help of Bluetooth technology.

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 Fig1.Circuit Diagram

Voice control system block diagram consist of Bluetooth Module, Arduino Uno, Motor
Driver Shield, Battery.

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 Fig.2. Block Diagram of Voice Controlled Robot

• The Bluetooth module is connected to the Arduino Uno and motor driver shield.
• Motor driver required for controlling the movement of the robot and operated by
the micro controller to control the four different motors forward, backward, left, and
right by controlling the direction of rotation of motors.
• Smart phones understand the voice input and transfer to the Bluetooth module via
wireless communication.
• Circuit operates by converting the voice input to text and the and further processed
by Arduino.

Input for Different logic is shown in Table.1:

Table-1: Input for different logic

Command Ip1 Ip2 Ip3 Ip4 Direction

Stop Low Low Low Low Stop

Forward High Low High Low Forward

Backward Low High Low High Backward

Left Low Low High Low Left

Right High Low Low Low Right

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 1.2 VOICE AND SPEECH, VOICE INPUT AND SPEECH
RECOGNITION

Voice is a sound which produced by humans or animals. Voice uses airflow that comes
from lungs. Air makes pressure over vocal folds and these vocal folds vibrate. Normally
speech produces as whisper in our throat by using neck, chest, head and abdomen this
whisper becomes our speech. Our speech is unique for every people and also it helps
other people to understand each other’s personality, mood and most importantly it helps
people to communicate. Sounds are using mechanical waves for traveling around gases,
liquids and solids. Mechanical waves transport their energy to one medium to another
medium while using vibration. Due to take voice microphone is required. Microphone is
a hardware which can convert analog input to a digital output. Digital data can be
understood, modify and store by computers. Computers can recognize speech by using
some complex algorithms and good dictionaries for these algorithms. Most of
recognition programs use Hidden Markov Model (HMM) and Mel-frequency cepstral
coefficients (MFCC) and frequency spectral decomposing technique to use both of those
algorithms. I have used Microsoft Visual Basic for making speech recognition it can
access Microsoft’s speech recognition tool while using framework, .NET and C#
programming language. First Microsoft speech recognition tool has been introduced for
Microsoft vista at 2006 and this toll uses Microsoft SAPI (Speech Application
Programming Interface) interface packed and this packed includes Microsoft speech
recognizer program for windows.

1.3 RADIO FREQUENCY AND FREQUENCY MODULATION

Radio Frequency is using very frequently in our live, it is on the air and because of radio
frequency people can listen radio frequencies, watch television, communicate from long
distance without cable and with using this people also can-do various things. Radio
frequency is a kind of electrical current that have some certain properties that allow it to
broadcast with using an antenna. If an AC current generates an electromagnetic field or a
wave at a frequency that is necessary to broadcast, then we can say this AC current is
Radio frequency. These frequencies are not visible for human eyes these are infrared side
of visible light. I have used an RF receiver and a RF transmitter I have connected my RF

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transmitter to the MAX232 circuit to send values MAX232 converted comments to the
RF receiver I connected PIC 16F877A circuit. My RF components is very simply ones
the only uses 433 MHz frequency and this is approximately equal to the 433 cycles per
second. Importing thing is when we use these components our receiver and transmitter
frequency should be equal if it is not than they cannot communicate with each other.
There are two important radio modulation technique exist today they are Frequency
Modulation (FM) and Amplitude Modulation (AM).

1.7. ARDUINO DEVICE

Arduino is open-source electronic prototyping platform based on flexible to use

easy to use hardware and software tool. Arduino has a microcontroller inside its
hardware it is different than I used on the microcontroller part of the project part.
Arduino uses AT mega series there is many types of Arduinos exist today most popular
ones are Arduino MEGA, Arduino UNO and many other type. I have used Arduino
UNO it uses ATmega328 series of microcontroller has 28 ports inside it. Software of
Arduino is very easy to use it does not require too much configuration one you choose
your dictionaries and wrote your code Arduino takes care of all other configuration
settings and makes things much easier. To installing code to Arduino is also very easy
after code verified its complier than user just need to connect its cable to the PC than
Arduino’s software finds its hardware and when user installs code to the hardware it is
still easy to debug Arduino without using different hardware or software. If user defines
serial communication with PC, then user can check what Arduino does when it’s
working.

1.8. COMPUTER TO ARDUINO COMMUNICATION

To communicate with Arduino, we first need to install its free software on the internet
and install. The software is very easy to use and install it creates just one .uno files on the

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 microprocessors these files are making user confuse because of there are many different
files generating. After installing Arduino is ready to usage including dictionaries using
dictionaries is very easy on the Arduino and Arduino does not requires any configuration
setting when programming these setting madden by program itself on the background.
User can use USB cable to connect Arduino and after that user can install his code to
Arduino far more easily and quickly than microcontroller.

1.9. BLUETOOTH COMMUNICATION

Bluetooth is one of the popular devices to communicate in short range it is using on

computers, cell phones, head phones and many other devices. Bluetooth devices use 2.4
to 2.5 GHz frequency to communicate with each other’s. Bluetooth standardized as IEEE
802.15.1 but then it changed that 802.15.1 Bluetooth’s range is 2400–2483.5 MHz
approximately. Bluetooth devices generally use frequency-hopping spread spectrum
communication technique to communicate each other. It can have approximately 40
channels and signals hops 1600 hop per second. Bluetooth devices firstly search each
other once one finds other it shows device to its user if user decides to communicate with
device, he paired those two devices and starts communication.

Design level 0 has showed in design 1.1.

Hardware designs,

Hardware connections,

Hardware integrations,

Input voice, Communication tools,

Computer programs,

Coding languages,

Communication protocols, Output data,

Speech recognizer
Serial communication xvii
i
system,
Design 1.1: Design level for Voice controlled car project

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 2. TECHNICAL CONTENT

2.1. IDENTIFICATION AND SIGNIFICANCE OF PROBLEM

2.1.1 SPEECH RECOGNITION APPLICATIONS BENEFITS FOR

WORLD

There is too many control devices in the environment like car steering wheel, computer
keyboards, elevator buttons, etc. But all these processes can be made easily with human
speech. Speech recognition programs can be also using by government or a company to
communicate or guide to people who need some official paper or other applications from
these companies. People can speak with speech recognition programs and find their way,
buying something things or services, access data from data base, write their documents,
writing text messages, making internet search, controlling wheelchair for paralyzed
people etc. all those services are available with touch system but with very good speech
recognizing system this kind of services will be using much more easily and make for
user search efficient and faster. With improvements in artificial intelligent systems
speech recognizing systems will be more importing and it using area will be increased
faster.

2.1.5 WIRELESS COMMUNICATION’S BENEFITS

Wireless systems are very importing in these days, these systems removes cables around
and gives its users to ability connect internet and wireless networks for many different
applications. With smart phones wireless technology using area increased these systems
are very importing for community. Government use this wireless network in the public
areas like Istanbul metropolitan municipality use wireless technology to get location of
their busses and via mobile applications they share this information with the Istanbul
citizens. In these days communicating is very importing issue and with improvements in
the wireless technology systems communicating is being much easier and efficient. On

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the project I have used two type of wireless device these devices are radio frequency and
Bluetooth.

2.1.6 RADIO FREQUENCY SYSTEM’S BENEFITS

Radio frequency systems is essential for this day it used by many devices around us.
With using Frequency Modulation technique, we can listen sound in the range any radio
station and it is also common to use this modulation people communicate each other over
long distances. Radio is one of the important events on the history it is like new era on
the communication system, before radio being frequently used people used other
techniques but these techniques were slow and not guaranty to carry. Today we use cell
phones and those phones uses radio frequencies with using different modulation
techniques. Because of radio frequency we can watch television, all we need is a simple
antenna then we can listen and see pictures on the screen. Satellites also use this
frequency to communicate with word and sending their broadcast to the people. On the
emergency situations these radio frequencies are using to communicate between helper
groups to save people or help them in these case police, hospitals, and similar companies
uses those frequencies to communicate.

2.1.7 USING MOTORS’ BENEFITS

Motors are using in many industrial and daily application like cars, elevators, etc. to
make our live easier. Without of motors people could make many hard jobs with their
body power and this is not so efficient for today’s industry. Motors are very popular and
controlling them is very importing issue engineers and scientists still try to control
motors more efficient. With efficient motor control industrial technology could be
improve much faster and this affects other areas either. There is much kind of motors in
the industrial area because their applications vary due to application it used.

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 2.1.7 USING ARDUINO BENEFITS

Arduino is open-source electronic prototyping platform based on flexible to use easy to

use hardware and software tool. Arduino has a microcontroller inside this
microcontroller control its own hardware and while using given pins it helps user to do
different kind of applications. Today many artists, designers, engineers and hobbyists,
who interested in creating interactive objects or environments on their systems, use this
prototype to create new projects. Arduino has its own software it can be freely
downloadable on the internet and it is just one file easily installing and there is no
necessary configuration requires. Arduinos dictionaries are fairly easy to use, they have
its own examples on the software and these examples are very tutoring.

2.1.7 BLUETOOTH’S BENEFITS

Connecting things is getting very complex thing because there is too many cables and
too many port. With Bluetooth technology this problem could be solving and people
could connect their devices more easily, more beautify. The main idea of this invention
is cable-free computer connections, which means real freedom for working environment
regardless wire availability and device restriction. This Bluetooth technology allows
portable computers, notebooks, mobile phones, personal digital assistant and other
helpful materials to use short range, low power radio technology to connect to each other
very easily. Bluetooth is using 2.4 to 2.5 GHz frequency spectrum to communicate.
While Bluetooth communication with other Bluetooth device its signals hops between
channels and frequencies. It can communicate in the short range but its usage areas very
varying, it can be used to data transmission between two devices like computer to
computer, computer to cell phone, cell phone to computer, cell phone to cell phone.
Bluetooth also using to head phones to connect musical device, computer or cell phone
wirelessly, Bluetooth communication is pretty secure it hops between frequencies so
jammers and similar devices getting hard time to restrict its communication. Bluetooth
also can easily choose device that it will send its data, firstly Bluetooth device search
device near it and second it asks user should I get paired with this device to connect it
securely and if user permits they starts to their communications.

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 2.2. TECHNICAL BACKGROUND

Voice is a sound generating from humans or animals while producing it people using
their lung, vocal fold, muscles. Voice producing has two different steps, one of them is
humans create a voice using airflow over their lungs and this airflow vibrates their vocal
fold and this vibration called voice. Voice is changes by genre for humans for women it
is around 180 to 220 Hz and for men it is founded 110 Hz. High voice’s frequency is
bigger but for low voices amplitude is greater. Figure 2.1 indicates vocal fold vibration.

Due to

figure 1; first image in Figure

figure 2.1:
onevocal
shows closed
fold position
vibration [1] for vocal folds. Second and third
pictures show airflow pressure over closed vocal folds. Fourth and fifth pictures indicate
that air passed vocal folds and opened it this starts the voice. Sixth to tenth pictures about
air’s movements cause Bernoulli Effect on the vocal folds. Bernoulli Effect helps vocal
folds to close and when vocal folds closed no air passes through it and voice finish. [1]

Speech is an essential factor for human communication. Speech is generating by

humans’ brain with their thoughts. Words that come our thoughts, finding by brain and
brain generates a mechanical sound pattern
Figure 2.1: vocal and this mechanical
fold vibration [1] pattern will be
implemented by human body. Human body produces speech by using brain and excellent
coordinated muscles actions in the head, neck, chest, and abdomen. During one second

xxii
i
speech, human body requires to use forty thousand of neuromuscular events. Human
speech is produced by pressure madden by the lung which creates phonation in the
glottis in the larynx that is then this phonation modified by the vocal tract into different
vowels and consonants. Figure 2.2 and 2.3 indicates how speech developing in our body.

Figure 2.2: speech production physiology [2].

xxi
v
 Figure 2.3: block diagram of speech production
[2].

After speech created in our body it travels through air or other mediums which let
it pass. Sound waves travel by using their energy to make vibration or collides
movement and while doing this it comes to receiver. Today some specific devices using
to receive sound waves one of the common devices is microphone. Microphone converts
analog input to digital output. Figure 2.4 has two types of condenser microphone devices
circuit design.

Figure 2.4: (a) standard condenser microphone circuit, (b)

electret condenser microphone. [3]

Incoming sound waves comes microphone and this makes a mechanical deflection of the
cone and voice coin. Microphone’s coil is moving around the permanent magnets and
this creates a time varying current. Condenser microphones use electrostatic forces
instead of magnetic induction. Condensers are a capacitor type and incoming sound
waves’ vibration changes its capacitance. Figure 2.5 indicates an electret microphone
cartridge; its condensers use its diaphragm to get sound waves and this start the
operation.

xxv
Due to implement applications with speech computers and other devices should detect
and record voices. There are two type of recording option these are digital and analog.
Most of devices records analog voices and after that they convert analog voice to digital
voice if this is necessary. Analog signal is an electrical shape of a sound's vibration
waveform, or variations in pressure devices like microphone transmits these vibrations of
its diaphragm to an electrical wave. This electrical wave goes to computer sound card or
other audio devices. Analog audio should be converting to digital signal before recording
it to the memory. Converter takes extremely much "snapshots" for detecting changes in
electric wave patterns (between 16,000 and 96,000 per second) and make up outputs one
code that allows a computer or other devices to use something similar data to the original
sound pressures. With taking much more snapshots that one converter takes per second,
digital copy will be more accurate [4].

Speech recognizing systems allows computers to convert speech signals to text

data. Speech recognizing can be maddened by many devices one of the device is
computers, computer and other speech recognizing devices uses algorithms to clear
speech and recognize it. With out of appropriate filter Speech cannot be recognized by
computer. Filters can clean speeches from noise, distortion, human articulation effects to
make speech useful for recognizing algorithms there are also signal enhancement method
could be use due to better recognizing.

Due to making a study for speech signals noise is one of the basic and important
problem. Noises make difficult speech recognition for computers and other devices
which interested with signals. Due to making a study for speech signals noise is one of
the basic and important problem figures 2.7 indicates entropy and noises (energy) effect
for a speech signal.

Noises make difficult speech recognition for computers and other devices which
interested with signals. With using two input cancelling approach technique recognition

xxv
i
errors could be reduce by about 75% (40% to 10%) it is depending speaker digit
recognition task [4].

For example, DC motors speeds depend dc current gave on it. Dc motors can be run
both forward and backward depending current direction passes over it this direction can
be changing by using H-bridges. DC motors has very high speed but they do not have
that much torque. To gain much torque power, with using gears and transmissions
motors speed power can be converting to torque. Other example is servo motors these
motors has always same current inside it but size of the pulse determines direction of
turning for typical servo motors large pulses means forward and smaller pulses mean
backward. Servo also allows turning with an angle its typical movement is one or two
degrees for per pulse.

xxv
ii
 Figure 2.19: Frequency modulation. [19].

Figure 2.16:isdcvery
Digital modulation motors
old inside’s schematic.
technique [16].in many application with this
that used
modulation carrier was switched or keyed on and off to create some pulse shaped pulses.
This modulation named as amplitude shit keying (ASK). Figure 2.20 shows
fundamentals for digital modulation characteristics. During to design of this modulation
technique developers tried minimize losing data in the message to make this system
more useful carrier must have huge power.

xxv
iii
 Figure 2.20: fundamentals for digital modulation characteristics. [19].
Phase shifting keying (PSK) another way to modulation signal it is similar to frequency
shifting keying (FSK) but for the PSK shifting in the phase and for the FSK shifting in
the frequency. Figure 2.21 shows PSK characteristic and figure 2.22 indicates FSK
characteristic.

Figure 2.21: PSK modulation system characteristics. [19].

For the figure 2.22 (a) representing bit streams these could be zeros and ones, (b)
representing a modulated signal with using PSK, (c) represent modulated signal’s
spectrum.

Figure 2.22: FSK modulation system characteristics. [19].

Radio Frequency technique has been used by many wireless applications since its first
invention. Radio Frequency is using very frequently in our live, it is on the air and
because of radio frequency people can listen radio frequencies, watch television,
communicate from long distance without cable and with using this people also can-do
various things. Radio frequency is a kind of electrical current that have some certain
properties that allow it to broadcast with using an antenna. These frequencies are not

xxi
x
visible for human eyes these are infrared side of visible light. If an AC current generates
an electromagnetic field or a wave at a frequency that is necessary to broadcast, then we
can say this AC current is Radio frequency. It is mechanical oscillation on the air and
this oscillation carries some electrical pusses with it these pulses considered by another
machine and get meaning on their communication. Radio frequencies range can be
varied about 3 kHz to300GHz, this corresponded frequency of radio waves and
alternating current it carried. To carry pulses there is many modulations technique exist
and using in this report main modulation technique used as (FM) frequency modulation.
Frequency modulation is a wave with instantaneously frequency changing. Frequency
modulation usually uses on FSK frequency –shifting keying technique this modulation
and frequency usually used on the radios, radars and other similar devices. To
understand FM signal to considering a modulating signal, figure 2.23 compares FM
signals with modulating signal.

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 Figure 2.23: FSK modulation system characteristics. [20].

Signals are modulated by using radio frequency carrier and then new radio frequency
signal moves up and down in frequency as indicated figure 2.23. Signals move up and
down is very important to communicate this movement known as the deviation and is
normally quoted as the number of kilohertz deviation. For example, the signal can have a
deviation of ±3 kHz so carrier moves up and down by 3 kHz. Advantages of FM
modulation are resilience to noise, easy to implementation with using low power on the
transmitter components and receiver components, long distance when compared to the
amplitude modulation which is used very frequently in daily life.

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 Arduino is open-source electronic prototyping platform based on flexible to use
easy to use hardware and software tool which includes a microprocessor. Arduino uses
ATmega series microcontroller. Today there are many type of Arduino exist today most
popular ones are Arduino MEGA, Arduino UNO and many other type. Arduino UNO
uses ATmega328 series of microcontroller; it has 28 ports inside it. Arduino has 20 pins
14 of them are Digital I/O pins and 6 of them are PWM (analog) output. Arduino has
32k flash memory include itself and its clock speed 16Mhz.

Arduino’s specifications it is about 75x54x15 mm size and its weight 25 gram.

Figure 2.24 shows a picture of Arduino UNO and USB connector cable with it. Arduino
can be connecting computer with using USB cable. When user put computer its cable
Arduino starts working uses power which took from computer and starts working.
Arduino also permits users to debugging on their hardware and also software while
computer connected to the computer if user defines serial communication with his board
then he can easily see what Arduino does when it is working. Arduino allows fast
transfer rates and there is no requirement for any drivers when using it and Arduino also
have ability to connect some external hardware like Bluetooth, receiver, transmitter,
mouse, keyboard, LCD screen and etc. when user connected external device all he needs
to do indicate its dictionary on the code part and start codding and Arduino itself makes
every changing, configurations, setting on its background engines.

Figure 2.24: Arduino UNO board and its USB connection cable. [21].

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Arduino has it is own software and this software can be freely downloadable on the
Arduinos own web side. This software of Arduino is very easy to use it does not require
too much configuration one you choose your dictionaries and wrote your code Arduino
takes care of all other configuration settings and makes things much easier. To installing
code to Arduino is also very easy after code verified its complier than user just need to
connect its cable to the PC than Arduino’s software finds its hardware and when user
installs code to the hardware it is still easy to debug Arduino without using different
hardware or software. If user defines serial communication with PC, then user can check
what Arduino does when it’s working. When software fist opened an empty space
opening this page’s name became today’s history and it called sketch history and
alphabetical count for number of new documents. Arduinos option bar include five
different menus these are file, edit, sketch, tools and help these menus help user to find
user’s required applications. On the file menu examples are very tutoring for the
beginners and they are also showing user how to use dictionaries on their applications.
And second option bar includes verify, upload serial monitor, new, open, save functions.
Figure 2.25 indicates an empty Arduino page on my computer.

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 Figure 2.25: Arduino software an empty page screen
shoot.

Arduino can be using with another hardware while installing and using its dictionary. In
this project Arduino should control two different motor and to control these Adafruit
motor shield has been used. This shield could control 4 different DC motor, 2 servo
motor and 1 stepper motor. This shield provided 4H-Bridges on its L293D chipset and
per bridge can stand and have self-shutdown opportunity for more than 0.6A or 1.2A
peak. 4 directional DC motor have 8-bit speed control option this device can stand hot
and when something goes wrong, they have protection diodes on their self. It also comes
with its own dictionary to help users; users can directly write direction of rotation setting
speed easily and manage motors torque. These shields also provide user to use six analog
input pins of the Arduino so user could add another external hardware on his system.
Figure 2.26 shows an Adafruit motor shield circuit. [22]

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 Figure 2.26: Adafruit’s motor shield circuit. [22]

Bluetooth is one of the popular devices to communicate in short range it is using on

computers, cell phones, head phones and many other devices. Bluetooth has been
invented by Ericsson Company in the 1994. Bluetooth devices use 2.4 to 2.5 GHz
frequency to communicate with each other’s. Bluetooth standardized as IEEE 802.15.1
but then it changed that 802.15.1 Bluetooth’s range is about 2400–2483.5 MHz
approximately. Bluetooth devices generally use frequency-hopping spread spectrum
communication technique to communicate each other. It can have approximately 40
channels and signals hops 1600 hop per second. Bluetooth devices firstly search each
other once one finds other it shows device to its user if user decides to communicate with
device he paired those two devices and starts communication. Bluetooth has several
versions such as Bluetooth 2.0, Bluetooth 2.1, Bluetooth 3.0 and Bluetooth 4.0 which is
used today. Bluetooth is gained new technologies after first released some of them are
Enhanced Data Rate (EDR), Alternate MAC/PHY, low energy protocols etc. has been
added and used on the newer versions of Bluetooth devices. The protocols name can be
varying in case of security, max speed, and bandwidth. Bluetooth’s data transfer rate is
about 25mbps after new update 4.0 this data rate directly related on hopping frequency

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earlier versions old Bluetooth could hops 800 per second. Connection with Bluetooth
fairly easy as indicated before it is simply using key matching process to connect each
other and it requires and pair code between devices after it given devices connects each
other. Security over Bluetooth is pretty good early versions of Bluetooth were encrypted
to stop any attack coming from the outside and now they added key matching and
pairing code. Bluetooth devices have a good search mechanism they can find other
devices on the 30m range and they can connect with them. Bluetooth’s power
requirement is very low but it is range is low and it is not so fast connection. Maximum
range of Bluetooth is like 30m and it can connect with 7 different devices it is called
piconet. Bluetooth can make slave and master connection with different devices on this
network Master waits for its slaves when a slave connects its network and paired with it
master send data to them and waits for answer, master also make those device
synchronal and communicate between them. Figure 2.27 shows a Bluetooth slave and
master connection.

Figure 2.27: Bluetooth master and slave network. [23]

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 2.3. TECHNICAL OBJECTIVES
2.3.1 SPEECH RECOGNITION

Here we allow users to control the robotic vehicle remotely by voice commands. A
Bluetooth module is usually a hardware component, wireless product to work with the
computer. The blue tooth can be accessory or peripheral, wireless headphone or other
product such as cellphones. Arduino Bluetooth control android application transmit
command using Bluetooth to the Arduino Uno so that it can move in the required
direction like moving forward, backward, turning left, turning right and stop. After
assembling the components of the Assembled robot is shown in Fig.3.

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 Fig.3.Developed Robot

Working of Application is summarized in following step 1 to step 9. Step1: Step 1 is called as

Default state of the Mobile Application. Default state of the Mobile Application is shown in
Fig.4.

Fig.4 Default state of the Mobile Application

Step 2: By turning on the HC-05 Bluetooth module and Bluetooth mobile connection get
established is shown in following Fig.5.

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 Fig.5.Connecting to HC-05 Bluetooth Module

Step 3: By turning on the Bluetooth on mobile and HC05 on Arduino Board the
application gets connected to HC-05 is shown in following Fig.6.

Fig.6. Application connected to HC-05

Step 4: After connecting to HC-05, by tapping the mic symbol in the application the
dialog box will be enabled is shown in Fig.7

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 Fig.7. Tapping on the mic symbol will enable this dialog box

Step 5: In the enabled dialog box when the users say backward command will be
transmitted to the robot and to take forward action is shown in Fig.8.

Fig. 8. Transmitting the command to robot to move forward

Step6: In the enabled dialog box when the users say backward command will be
transmitted to the robot and take backward action is shown in Fig.9.

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 Fig .9. Transmitting the command to robot to move backward

Step7: In the enabled dialog box when the users say left command will be transmitted to
the robot and take left action is shown in Fig.10.

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 Fig. 10. Transmitting the command to robot to move to its left

Step8: In the enabled dialog box when the users say right command will be transmitted
to the robot and take right action is shown in Fig.11.

Fig.11. Transmitting the command to robot to move to its right

Step9: In the enabled dialog box when the users say stop command will be transmitted to
the robot and robot stops accordingly is shown in Fig.12.

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 Fig. 12 Transmitting command to robot to stop its movement

2.3.3 Code Used in Arduino

#include <Servo.h>

#include <AFMotor.h>

#define Echo A0

#define Trig A1

#define motor 10

#define Speed 170

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#define spoint 103

char value;

int distance;

int Left;

int Right;

int L = 0;

int R = 0;

int L1 = 0;

int R1 = 0;

Servo servo;

AF_DCMotor M1(1);

AF_DCMotor M2(2);

AF_DCMotor M3(3);

AF_DCMotor M4(4);

void setup() {

Serial.begin(9600);

pinMode(Trig, OUTPUT);

pinMode(Echo, INPUT);

servo.attach(motor);

M1.setSpeed(Speed);

M2.setSpeed(Speed);

M3.setSpeed(Speed);

M4.setSpeed(Speed);

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}

void loop() {

Obstacle();

Bluetoothcontrol();

voicecontrol();

void Bluetoothcontrol() {

if (Serial.available() > 0) {

value = Serial.read();

Serial.println(value);

if (value == 'F') {

forward();

} else if (value == 'B') {

backward();

} else if (value == 'L') {

left();

} else if (value == 'R') {

right();

} else if (value == 'S') {

Stop();

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void Obstacle() {

distance = ultrasonic();

if (distance <= 12) {

Stop();

backward();

delay(100);

Stop();

L = leftsee();

servo.write(spoint);

delay(800);

R = rightsee();

servo.write(spoint);

if (L < R) {

right();

delay(500);

Stop();

delay(200);

} else if (L > R) {

left();

delay(500);

Stop();

delay(200);

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 } else {

forward();

void voicecontrol() {

if (Serial.available() > 0) {

value = Serial.read();

Serial.println(value);

if (value == '^') {

forward();

} else if (value == '-') {

backward();

} else if (value == '<') {

L = leftsee();

servo.write(spoint);

if (L >= 10 ) {

left();

delay(500);

Stop();

} else if (L < 10) {

Stop();

} else if (value == '>') {

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 R = rightsee();

servo.write(spoint);

if (R >= 10 ) {

right();

delay(500);

Stop();

} else if (R < 10) {

Stop();

} else if (value == '*') {

Stop();

// Ultrasonic sensor distance reading function

int ultrasonic() {

digitalWrite(Trig, LOW);

delayMicroseconds(4);

digitalWrite(Trig, HIGH);

delayMicroseconds(10);

digitalWrite(Trig, LOW);

long t = pulseIn(Echo, HIGH);

long cm = t / 29 / 2; //time convert distance

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 return cm;

void forward() {

M1.run(FORWARD);

M2.run(FORWARD);

M3.run(FORWARD);

M4.run(FORWARD);

void backward() {

M1.run(BACKWARD);

M2.run(BACKWARD);

M3.run(BACKWARD);

M4.run(BACKWARD);

void right() {

M1.run(BACKWARD);

M2.run(BACKWARD);

M3.run(FORWARD);

M4.run(FORWARD);

void left() {

M1.run(FORWARD);

M2.run(FORWARD);

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 M3.run(BACKWARD);

M4.run(BACKWARD);

void Stop() {

M1.run(RELEASE);

M2.run(RELEASE);

M3.run(RELEASE);

M4.run(RELEASE);

int rightsee() {

servo.write(20);

delay(800);

Left = ultrasonic();

return Left;

int leftsee() {

servo.write(180);

delay(800);

Right = ultrasonic();

return Right;

loop ()

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Inside the infinite loop () we first check if serial data is available in the buffer. If data is
found then the characters are added one by one to the array ‘inSerial’ using a while loop.
Then we will call the Check_Protocol() function with ‘inSerial’ as an argument inside it.
This function will be responsible for controlling the robot’s motion by comparing the
received data with predefined strings.

forward ()

The forward () function will be responsible for moving the robot in the forward
direction. We will use the run () method on the motor instances with ‘FORWARD’ as an
argument inside it to move all the motors in the forward direction. Moreover, we also set
the speed of all the motors by using the setSpeed() method on the motor instances. Here
we are passing 255 as a parameter inside it. Valid parameters include 0-255 where 255 is
the highest speed.

back ()

The back () function will be responsible for moving the robot in the backward direction.
We will use the run () method on the motor instances with ‘BACKWARD’ as an
argument inside it to move all the motors in the backward direction. Moreover, we also
set the speed of all the motors by using the setSpeed() method on the motor instances.
Here we are passing 255 as a parameter inside it. Valid parameters include 0-255 where
255 is the highest speed.

left ()

The left () function will move the robot to the left direction. This is done by moving the
right-side motors in a forward direction with maximum speed and stopping the left side
motors. Note that we connected left side motors to M3/M4 terminals and right-side
motors to M1/M2 terminals.

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 2.4. WORK PLAN

2.4.1 SPEECH RECOGNIZING WORKING PLAN

Due to make speech recognition I first searched a good program and I came up with
three solutions one of them were MATLAB second LABVIEW and last option was
Microsoft Visual Studio. Fist I tried to MATLAB but I could not make it because it was
much more complex than other options, again I had to use a dictionary like I did on the
Visual studio but with using it I would have some problems to connecting hardware and
communication tools. LABVIEW were a good program I installed it but I was not known
it so I decided to use Microsoft Visual Studio. Microsoft Visio could use Microsoft
speech search engine and this gives me better results than MATLAB and it was easier.

I searched Microsoft forums and visual studios example codes and wrote my speech
recognizing code, I made it on the English language and specified with some words I
wanted to use.

2.4.4 DC MOTOR CONTROLLING PLAN

I used motor controller component on this circuit. U used my microcontroller to control

motor driver I choose a motor driver and programmed my microprocessor with it. I also
added an H bridge to this motor driver circuit, this H bridge provides more control and
also it protects my motor and motor controller components. I tried to control four dc
motor but I controlled two of them other two directly connected to the other motors pins
to do same rotation.

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 2.4.5 ARDUINO AND ADAFRUIT MOTOR CONTROLLING PLAN

I brought an Arduino board and a motor controller board for four motors but I just used
two motors. I downloaded Arduino’s program on the internet and made some exercises
to learn it and I also installed and learned how to use motor controlling with looking its
exercises and its forums. I have learned how to connect Arduino with my computer and
how to install program inside it. I have learned how to control motor how many motors
can I control which pins are never used and which are used. I learned how to supply
Arduino without of connecting computer.

2.4.6 BLUETOOTH COMMUNICATION PLAN

I fist decided to communicate over something more accurate than RF communication

than I came up with Bluetooth idea. Bluetooth is a short-range communication
technology; it is very accurate and works with less problem than RF. I brought Bluetooth
device I firstly working something more useful than serial communication but Arduino
did not support it and I used serial communication. I used serial communication
dictionary for this work and defined two analog ports to transmitter and receiver. I read
HC-06 Bluetooth device’s data sheet and decided to give 3.3V to input but that was
absolutely mistake for a long time I could not communicated with Arduino. I tried
different techniques to solve problems but after a while I solved the problem. The
problem was voltage; it was not enough I had to use 5V to communicate with Arduino.
After solved problem I finished android part of the project.

1.0 Speech Recognizing Program.

1.1 Making Speech Recognition.

1.2 Correcting Results.

1.3 Car Word Filter.

2.0 Computer to microprocessor communication.

2.1 Making a fine Working Design

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2.2 Understanding of USART Interface.

2.3 Connecting PIC to the computer.

2.4 Implementing Visual Studio Codes for Sending Results.

2.5 Implementing MAX232 circuit

2.6 Connection PIC to Visual Studio

3.0 Wireless Communication.

3.1 Making Fine Working Design

3.2 Programming PIC

3.3 Fixing Wireless Circuit’s Problems.

3.4 Choose right pin to get data.

4.0 DC Motor Controlling.

4.1 Building H Bridge.

4.2 Finding enough space on the circuit board

4.3 Implementation motor control circuit

4.4 Integrating Motor Circuits with Receiver Circuit.

5.0 Arduino and Adafruit Car Circuit.

5.1 Learning motor controlling with Adafruit motor controller shield.

5.2 Learning Adafruit motor controller shield dictionary.

5.3 Implementation Arduino circuit

6.0 Bluetooth Communication.

6.1 Learning HC-06 Bluetooth devices properties.

6.2 Defining serial communication with HC-06 Bluetooth devices on Arduino.

6.3 Sending data to C-06 Bluetooth device.

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 6.4 Get data from computer

2.4.2. DELIVERABLES

This project will be delivered speech recognition system that can control something
without of wires. For this project I will control two cars, but it can also work for a
computer keyboard or a mobile phone message text box. While changing and extending
dictionary this project’s main code can manage these devices.

I also deliver a wireless communication system with using microcontroller and

Arduino. In these days wireless communication systems are very importing and this
wireless system will be controlling two simple cars via using this technology. Design
level 1 has showed in design 2.1.

Speech recognizer Voice

input Wireless Motor controlling
communication controled
car

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Serial
Sending orders to
communication
motor via wireless

Design 2.1: Design level 1 for voice controlled car.

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 CONCLUSION

The aim of the project is to give a small gift to the unfortunate people who are physically
handicapped. By giving simple voice commands, their daily chores can be very easily
accomplished. And the voice commands are successfully transmitted via Bluetooth and
on receiving the commands the robot will perform desired operations. This project will
reduce the human power and perform actions which humans can't perform. Such robots
can be used in places like industries, military and defense, research purposes. The “Voice
Controlled Robotic Vehicle” project has many applications and in present and future.
The project can be made more effective by adding features to it in the future. The project
has applications in wide variety of areas such as military, home security, rescue
missions, industries, medical assistance etc. We were successful in implementing a
simple model of voice controlled robotic vehicle using the available resources. The
implementation of this project is easy, so this robot is beneficial for human life. The
Voice Control Robot is useful for disable people and monitoring purpose. It works on
simple voice command, so it is easy to use. It is useful for those areas where humans
can’t reach. The size of this robot is small, so we can use this robot for spying purpose. It
can be used for surveillance. We can implement web cam in this robot for security
purpose. The voice recognition software has an accuracy and for identify a voice
command and it is also highly sensitive to the surrounding noise.

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 FUTURE WORK

1. This task work has been limited to short range Bluetooth module. Utilizing a
long-range modules 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 phases of Humanoid robots.
8. Discourse and voice acknowledgment security frameworks.
9. The robot can be used for monitoring or investigation.

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 REFERENCES

[1] Surjeet and Nisha Gupta “A Novel Voice Controlled Robotic Vehicle for Smart City
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[2] Shubh Srivastava and Rajnish Singh “Voice Controlled Robot Car Using Arduino”,
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[3] K. Kannan and Dr. Selvakumar “Arduino Based Controlled Robot”,SRM University,
IRJET in Mar,2015.

[4] Dr. Joseph Picone and Lawrence Rabier and Biing-Hwang Juang “Fundamentals of
speech recognition”, TIFR Researches in October 2013.

[5] Cecilia Caruncho Lluagno “cepstral analysis on the mel frequency scale and a
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[6] Kin Hong Wong “Aduio feature Extraction techniques”, The Chinese University of
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[12] Ms. M. Ramjan Begum, Mr. S. Chandramouli, Mr. T. Gowtham, “Design and
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[15] Dyah Ayu Anggreini Tuasikal, Hanif Fakhrurroja, Carmadi Machbub, “Voice
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[22] Abikshit Timsina, Dev Chandra Sharma, Nirmala Sharma, Allen Bhutia, Sujala
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