Human following robot using Arduino and microcontroller

A Project report
On
HUMAN FOLLOWING ROBOT USING ARDUINO AND
MICROCONTROLLER
Submitted in partial fulfilment of the requirement
For the award of the Degree of
Bachelor Of Technology
In
ELECTRONICS AND COMMUNICATION ENGINEERING
By
K ESWAR REDDY 19751A0483
P J SRAVANI 19751A04C3
L JYOSHNA 19751A0488
N MAHESH 19751A04B4
Under the Guidance of
Mrs. V.G. Hamsaveni, M. Tech(PHD)
ASSISTANT PROFESSOR, DEPT. OF ECE

DEPARTMENT OF ELECTRONICS &

COMMUNICATION ENGINEERING
SREENIVASA INSTITUTE OF TECHNOLOGY AND
MANAGEMENT STUDIES
(Autonomous)
Affiliated to J.N.T.U.A Anantapuramu & NBA Accredited
CHITTOOR – 517127
(2021-2022)

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 Human following robot using Arduino and microcontroller

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

SREENIVASA INTITUTE OF TECHNOLOGY AND MANAGEMENT STUDIES
(Autonomous)
Affiliated to J.N.T.U.A, Anantapuramu & NBA Accredited
CHITTOOR-517127

CERTIFICATE

This is to certify that the project report entitled “IOT BASED REAL TIME WEATHER
MONITORING SYSTEM USING NODE-MCU AND THINGSPEAK” that is being
submitted by Mr N KUPENDRAN(19751A04B2), Ms K SWATHI(19751A0473),Mr N
JAYANTH(19751A04A9), Ms K SIRISHA (19751A0481),Mr M D LUQHMAN JAFFAR
in partial fulfilment for the award of the Degree of Bachelor of Technology in
ELECTRONICS AND COMMUNICATION ENGINEERING to the Jawaharlal Nehru
Technological University Anantapuramu, Anantapuramu is a record of bonafide work carried
out under my guidance and supervision. The results embodied in this project report have not
been submitted to any other University or Institute for the award of any degree.

Mrs. V.G.Hamsaveni, M.Tech(Ph.D) Dr. K. GOPI M.Tech, Ph.D.

Associate Professor, Dept.of.ECE Head of the
Department,Dept.of.ECE

Submitted for University Examination (Viva -Voice) held on

Internal Examiner External Examiner

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 Human following robot using Arduino and microcontroller

ACKNOWLEDGEMENT

The successful completion of this project work was made possible with the help and
guidance received from various quarters. We would like to avail this opportunity to express
our sincere thanks and gratitude to all of them.

We would like to express the heartfelt gratitude to our Chairperson

Sri.K.RANGANATHAM GARU for providing excellent institutional support to complete
this project.

We would like to express the profound gratitude to our beloved principal

Dr.N.VENKATACHALAPATHI Sir, B.Tech,M.Tech,Ph.D,PGDPE(CIPET), for giving us
the opportunity to embark upon this topic and for their continued encouragement throughout
the course of this project.

We pay our sincere note of felicitation to Dr.K.GOPI Sir, M.Tech, Ph.D., Professor
& Head of the ECE Department for his inspiration and support at each and every stage of the
project.

We thank our project guide Mrs.V.G.Hamsaveni mam, M.Tech(PHD), Associate

Professor of the ECE Department for his valuable guidance, offering necessary material and
willingly giving us advice whenever needed.

Finally, we thank all the teaching faculty and non-teaching staff of the Department
Of Electronics and Communication Engineering for giving their advices and their help during the
course of our project work as well as studies.
K. ESWAR REDDY 19751A0482
P. J. SRAVANI 19751A04C3
L. JYOSHNA 19751A0488
N. MAHESH 19751A04B4

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course Outcomes for project work

On completion of project work we will be able to,
CO1. Demonstrate in-depth knowledge on the project topic.
CO2. Identify, analyse and formulate complex problem chosen for project work to attain
substantiated conclusions.
CO3. Design solutions to the chosen project problem.
CO4. Undertake investigation of project problem to provide valid conclusions.
CO5. Use the appropriate techniques, resources and modern engineering tools necessary for
project work.
CO6. Apply project results for sustainable development of the society.
CO7. Understand the impact of project results in the context of environmental sustainability.
CO8. Understand professional and ethical responsibilities while executing the project work.
CO9. Function effectively as individual and a member in the project team.
CO10. Develop communication skills, both oral and written for preparing and presenting
project report.

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ABSTRACT

Nowadays, human-following is becoming one of the key issues of a human-robot interaction. An

LRF(Laser Range Finder) might be the appropriate sensor in dealing with a human-following
since it gives accurate information on a distance. Both extracting leg images from an LRF and
interpreting those images over a time period as a same person are important. In this paper, we
propose how to group legs into a person from laser scanned images and how to track a target
person robustly over a time period using attributes we defined. The proposed methods were
successfully verified through an experiment.

A robot which can help us in many fields like carrying items, work with more accuracy in lesser
time in every kind of works. A robot that can help us in a hospital or bringing medical items in any
emergency case will be more helpful for a doctor in emergency cases. This type of robot having so
many benefits and it will be helpful in the future. This type of robot can be close to humans is much
possible. This useful project is made to attempts to follow the right human or obstacle. In this robot,
Infrared sensors are used to move the robot in both the direction and ultrasonic sensor for both the
forward and reverse direction. We used the Arduino Uno microcontroller as the brain of this
project. This robot is driven with four Dc motors and it is controlled by a motor driver shield with
ATmega L293d . The main objective of designing this useful project is to make our life better and
luxurious. In this project robotic car sense the human by IR sensor automatically and follow the
human and obstacles. This type of robot will be more useful and it will be a trend in the future.

Keywords: Arduino, DC gear motor, Infrared sensor, Microcontroller, Ultrasonic sensor,

Robot.

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CHAPTER-1

INTRODUCTION

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INTRODUCTION

In this high technology, a robot must be able to detect and follow humans. A robot that can
detect and follow human or obstacle within a specific range is called ‘Human Following
Robot’. Robots
are used to change people’s lives and make people’s life luxurious. A robot that can use in
shopping time which carries items, and follow human without any remote more useful. A
robot can be used in the hospital for bringing medicine with more accuracy and fast. The
human following robot has many works like work as trolley, structure in hospital, and a small
basket with a car and so on. Now in this changing world, people are started to lives with
robot-like humans following robots for their luxurious life. This project named called human
following robot because it can follow humans with the help of IR sensors and co-exist with
humans and help humans in any kind of work with more accuracy and in lesser time. The
human following robot can use in the defence sector also to carry weapons for the soldiers.
This type of robot can be sense obstacles and humans automatically and it can use in the future
in our cars. A human following robot can be modified in the future with more developed
components and can make it more advanced. This robot can be enhanced by structure by
adding more components like camera, tracking device and make it more beautiful and
workable. This robot will be more tend in our future. Robot technology has grown
tremendously in recent times. The same establishment was just a dream for some people a few
times back. But in this seaside world, there is now a need for robots like “A Human Follower
Robot” that can communicate and communicate with them. (1) To accomplish this, a robot
needs the ability to dream and to perform. (2) (3) The robot must be intelligent enough to
follow a person in tight spaces, in an image, and inside or out (4). Photo processing done to
get information about nature by appearance is really important. The following points should be
considered carefully in practice. Living conditions should be truly stable and should not
change. The width should be well placed in the requested area when blurring. The target
should not be too far away from the visible detector as distance is very important. We should
avoid using the same color next to the target robot. Otherwise, the robot would be confused.
Usually the next dead robots are equipped with several different combinations of icons i.e.
light detection and various icons. All detectors and modules operate in accordance with the
definition and target tracking.

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1.1 MAIN COMPONENTS USED IN ARDUINO: 

 The various components present on the Arduino boards are Microcontroller, Digital
Input/output pins, USB Interface and Connector, Analog Pins, Reset Button, Power button,
LED's, Crystal Oscillator, and Voltage Regulator. Some components may differ depending on
the type of board.
 The most standard and popular board used over time is Arduino UNO. The
ATmega328 Microcontroller present on the UNO board makes it rather powerful than other
boards. There are various types of Arduino boards used for different purposes and projects.
The Arduino Boards are organized using the Arduino (IDE), which can run on various
platforms. Here, IDE stands for Integrated Development Environment

1.2 ARCHITECTURE OF ARDUINO:

"Arduino’s processor basically uses the Harvard architecture where the program code and
program data have separate memory. It consists of two memories- Program memory and the
data memory. The code is stored in the flash program memory, whereas the data is stored in
the data memory. The Atmega328 has 32 KB of flash memory for storing code (of which 0.5

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KB is used for the bootloader), 2 KB of SRAM and 1 KB of 1 KB of EEPROM and operates

with a clock speed of 16MHz.

1.3 FUTURE TECHNOLOGIES OF ARDUINO :

Robotics: Arduino is widely used in robotics projects, from simple robotic arms to more
complex robots that can navigate and interact with their environment.

Home automation: Arduino can be used to automate various aspects of a home, such as
lighting, heating, and security systems.

Internet of Things (IoT): Arduino can be used to build devices that are connected to the
internet, such as smart home devices, wearable technology, and environmental monitoring
systems.

Environmental monitoring: Arduino can be used to collect data from sensors that monitor
environmental factors such as temperature, humidity, and air quality.

Musical instruments: Arduino can be used to create electronic musical instruments, such as
synthesizers and MIDI controllers.

Education: Arduino is a popular tool for teaching programming and electronics in schools and
universities.

Agriculture: Arduino can be used to build systems for monitoring and controlling irrigation,
greenhouse environments, and other aspects of agriculture.

Medical devices: Arduino can be used to build medical devices such as blood glucose
monitors and prosthetics.

Gaming: Arduino can be used to build game controllers and other gaming-related devices.

1.4 APPLICATIONS OF ARDUINO :

 Arduino Uno is used in Do-it-Yourself projects prototyping.

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 In developing projects based on code-based control

 Development of Automation System
 Designing of basic circuit designs.
1.5 ADVANTAGES OF ARDUINO :
 Easy to Use. Arduino is super easy to learn.
 Inexpensive Hardware. Arduino boards are available at low cost.
 Active User Community.
 Cross Platform Support.
 Tons of Libraries.
 Lack of Multitasking.
 Not Optimized for Performance.
 Lack of Communications.

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CHAPTER – 2

LITERATURE SURVEY

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LITERATURE SURVEY

1.Ng, Yen Leng Cheng Siong Lim,Kumeresan "Automatic human guided

shoppingtrolleywithsmart shopping system. ― When wespeak Ng, Yen Leng, Cheng Siong
Lim, Kumeresan "Automatic human guided shopping trolley with smart shopping system.
When we speak about human following robots, the cardinal issue that needs to be taken care of
is the direction finding of the robot. The direction-finding should be such that the robot
follows the designated subject only and it should not deviate from its path and technological
advancements have engendered many methods which aim to tackle this issue with maximum
possible accuracy. The proposed , application a human following shopping cart, has a similar
aim. To gain an in-depth knowledge of the various direction-finding methods that can be used
for this application, we studied various research papers [1], that have implemented concepts
along similar lines.
2. K. Morioka, J-H. Lee, and H. Hashimoto,―Human-following mobile robot in a distributed
intelligent sensor network,‖ Some other research work was also conducted In this regard,
Depth
imaging was used by Calisi and the Target was pursued by designing a special algorithm .They
did a lot of work on object tracking and detection. The biggest advantage of their method was
that their algorithm worked in complex environments as well
3. J. H. Lee, T. Tsubouchi, K. Yamamoto, and S. Egawa, ―People Tracking Using a Robot in
Motion with Laser Range Finder,‖ and M. Lindstrom and J. O. Eklundh, ―Detecting And
tracking moving objects from a mobile platform using a laser range scanner‖, Different
algorithms are being developed by the researchers for the detection purposes. Laser was used
in one Research to find the style of the moving legs and a camera was used to detect a object
or a person. A very simple technique was also used by researchers. In this technique, the
person used distance sensors on the robot and the person. These sensors emitted radio waves
and were detected by the sensors on the person to be followed. This way the robotfollowed the
required target.[3]
4. Later on,Leo Louis in his paper, Working Principle of Arduino and using it as a tool for
study and research‖ tells us that Arduino is a open source microcontroller which can be easily
programmed erased and reprogrammed at any instant of time. The Current advanced uses of
Arduino also include: Arduino Auto Billing Shopping Trolley, Arduino Fire Detector &
Extinguisher Bot, IR Vision Snake Robot-Arduino.[4]

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5. R. Munoz-Salinas, E. Aguirre, and M. GarcíaSilvente, ―People detection and tracking

using stereo vision and colour.This method enabled him to peruse the required target with an
Effective manner. The combination of different sensors was Used by R. Munoz too. get the
information about the target to be tracked. In addition to using different sensors, he also used
stereo vision to get accurate information. The data of the sensors combined with the
Information from the camera proved to be very helpful in carrying out the tasks
2.1 LIMITATIONS OF EXISTING SYSTEM :
 Trajectory planning algorithms are typically designed to work in specific environments and
assume certain conditions. Therefore, they may not be able to adapt to changes in the
environment, such as the presence of obstacles, changes in lighting conditions, or variations in
surface texture. This can limit the robot's ability to follow the human host accurately.
 Trajectory planning algorithms rely on accurate predictions of the human host's movements.
However, human movements can be unpredictable, especially in dynamic environments. This
can lead to errors in trajectory planning, causing the robot to deviate from its intended path.
 The tracking range of the LRF is limited, which means that the robot can only track humans
within a certain distance. This limitation can be overcome by using multiple LRFs or other
sensors, but this adds to the cost and complexity of the system.
 Human walking motion analysis may not always accurately detect and track human movements,
particularly in complex environments. Factors such as occlusion, changes in lighting conditions,
and variations in gait can affect the accuracy of the tracking system.
 The LRF can be affected by interference from other sources, such as reflective surfaces or other
nearby sensors. This can result in inaccurate measurements and tracking errors.
 A laser pointer has a limited range, which means that the user must be within a certain distance
from the robot to control its neck movement. This may limit the robot's mobility and make it
difficult to use in certain environments.
 The laser pointer requires a direct line of sight to the robot, which means that obstacles or
interference can disrupt the signal. This may limit the robot's ability to move freely and respond
to the user's commands.
 The laser pointer may require a high degree of precision to control the robot's neck movement,
which may be difficult for some users to achieve. This may limit the usability of the interface for
certain individuals.
 The depth range of BSFS is limited by the baseline between the two cameras. If the baseline is
too short, the system may not be able to accurately capture objects that are far away. Similarly,

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if the baseline is too long, the system may not be able to accurately capture objects that are
close.

2.2 EXISTING SYSTEM BLOCK DIAGRAM :

MOTOR
ULTRASONIC
SHEILD
SENSOR
L293D

DC MOTOR ARDUINO

POWER
SUPPLY

WHEELS

HHGHHG

The fig. shows the proposed system, the human following robot is done with the help of Arduino
UNO, ultrasonic sensor and a motor shield. In this Arduino UNO is interfacing with an ultrasonic
sensor and motor shield. When the power supply Is ON the three sensors detects the presence of
human and it is calculated the distance between human and robot ,if the distance between human
and robot is less than 25 cm and greater than 8 cm , the robot starts following human when there is
a interrupt occur then the robot stops and then its re-starts following the human . Robot will be in

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an active state until the person turns off the power supply .Arduino IDE is the open source platform
.The board is connected to a computer via USB, where it connects with the IDE. The user writes
the code in the IDE and then uploads it to the microcontroller which executes the code, interfacing
with inputs and outputs. In this way the human following robot follows the human

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Human following robot using Arduino and microcontroller

CHAPTER – 3

SCOPE OF THE PROJECT AND PROPSED SYSTEM

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 Human following robot using Arduino and microcontroller

SCOPE OF THE PROJECT

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