VISHVESHVARAYA TECHNOLOGICAL UNIVERSITY

“Jnana Sangama”, Belagavi - 590018, Karnataka, India

MINI PROJECT REPORT ON

DTMF Controlled Robotic Vehicle

BACHELOR OF ENGINEERING
In
ELECTRONICS AND COMMUNICATION ENGINEERING

Submitted By

CHIRAG S 1DA20EC033
HARSHITHA S GIRI 1DA20EC048
LAVANYA A C 1DA20EC064
MANISH J 1DA20EC075

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

Dr. AMBEDKAR INSTITUTE OF TECHNOLOGY

(An Autonomous institution, Affiliated to VTU, Belgaum and Aided by Government of Karnataka)

Near Jnana Bharathi campus, Bangalore -560056

2022-23

Dept. of ECE, Dr. AIT, Bangalore-56

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 Dr. AMBEDKAR INSTITUTE OF TECHNOLOGY
(An Autonomous institution, Affiliated to VTU, Belgaum and Aided by Government of Karnataka)
Near Jnana Bharathi campus, Bangalore -560056
Department of Electronics & Communication Engineering

Certificate
Certified that the project work entitled “ DTMF Controlled Robotic Vehicle”, carried
out by CHIRAG S, bearing USN: 1DA20EC033, HARSHITHA S GIRI, bearing
USN:1DA20EC048, LAVANYA A C bearing USN 1DA20EC064 and MANISH J bearing
USN 1DA20EC075 bonafide students of Dr. Ambedkar Institute of Technology,
Bangalore – 560056 in partial fulfilment for the award of Bachelor of Engineering in
Electronics and Communication Engineering of the Vishveshvaraya Technological
University, Belagavi during the year 2021–2022. It is certified that all the
corrections/suggestions indicated for Internal Assessment have been incorporated in the
Report deposited in the departmental library. The Mini project report has been approved as it
satisfies the academic requirements.

Signature of the Guide Signature of the HOD Signature of the principal

(Dr. Kavitha Devi CS) (Dr. Mahalinga V Mandi) (Dr. Meenakshi m)

External Viva
Name of the Examiners Signature with Date

1.

2.

Dept. of ECE, Dr. AIT, Bangalore-56

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 Dr. AMBEDKAR INSTITUTE OF TECHNOLOGY
(An Autonomous institution, Affiliated to VTU, Belgaum and Aided by Government of Karnataka) Near
Jnana Bharathi campus, Bangalore -560056
Department of Electronics & Communication Engineering

Declaration

We, CHIRAG S, bearing USN: 1DA200EC033, HARSHITHA S GIRI bearing USN

1DA20EC048, LAVANYA A C bearing USN: 1DA20EC064 and MANISH J bearing
USN: 1DA20EC075 hereby declare that, the project work entitled “DTMF
Controlled Robotic Vehicle ” is independently carried out by us at Department
of Electronics and Communication Engineering, Dr. Ambedkar Institute of
Technology, Bengaluru-560056, under the guidance of KAVITHA DEVI CS,
Assistant Professor, Department of Electronics and Communication Engineering,
Dr. Ambedkar Institute of Technology. The Project work is carried out in partial
fulfillment of the requirement for the award of degree of Bachelor of
Engineering in Electronics and Communication Engineering during the academic
year 2022- 2023.

Place: Bengaluru Name & Signature of students

Date
CHIRAG S
HARSHITHA S GIRI
LAVANYA AC
MANISH J

Dept. of ECE, Dr. AIT, Bangalore-56 3|Page

 Dr. AMBEDKAR INSTITUTE OF TECHNOLOGY
Mallathahalli, Bengaluru – 560056

Department of Electronics and Communication Engineering

About the Department

The Department of Electronics and Communication Engineering was instituted in the

year 1982 with the objective of imparting knowledge in cutting-edge technologies of
Electronics and Communication Technology. Ever since the inception of the department,
it has been fulfilling to the needs of the students by imparting the latest and need-based
technical knowledge. Presently, the department has well-qualified faculty members who
have made significant contribution in various fields and have published research papers
in reputed journals, International and National conferences. We encourage participation
of students in various co-curricular and extra-curricular activities as well.

Vision
“To excel in education and research in Electronics and Communication Engineering
and its related areas through its integrated activities”

Mission
 To provide students a strong foundation in Electronics and Communication
Engineering.
 To provide high quality technical education in Electronics and Communication
Engineering discipline and its related areas to meet the growing needs and
challenges of industry and society.
 To be a contributor to the technology through the process of skill development,
value-based education, research and innovation.

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 ACKNOWLEDGEMENT

The satisfaction that accompanies the successful completion of this mini project
would be complete only with the mention of the people who made it possible,
whose support rewarded our effort with success.
We are grateful to Dr. Ambedkar Institute of Technology for its ideals and its
inspirations for having provided us with the facilities that have made this mini
project a success. We are grateful to our Principal Dr. Meenakshi M, Dr. Ambedkar
Institute of Technology, who gave a continuous support and provided us
comfortable environment to work in. We would like to express our sincere thanks to
Dr. Mahalinga V Mandi, Professor and Head, Department of Electronics and
Communication Engineering, Dr. Ambedkar Institute of Technology for his support.
We pay out profound gratefulness and express our deepest gratitude to our mini
project guide Dr. Kavitha Devi C S, Assistant Professor, Department of Electronics
and Communication Engineering for the suggestions and guidance. We are thankful
to our mini project coordinators Dr. Divya A, Assistant Professor, Dept. of Electronics
and communication and Dr. Triveni, Assistant Professor, Dept. of Electronics and
communications for their advice, supervision and guidance throughout the course
of the project. It is our pleasure to acknowledge the cooperation extended by
teaching staff and nonteaching staff members of Dept. of Electronics and
Communication Engineering, Dr. Ambedkar Institute of Technology for the
encouragement during project work. Finally, it gives immense pleasure to
acknowledge the cooperation extended by family members, friends for the
encouragement during this Project Work.

STUDENT NAME:

CHIRAG S
HARSHITHA S GIRI

LAVANYA A C
MANISH J

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 ABSTRACT

The project is designed to control a robotic vehicle using a Dual Tone Multi
Frequency (DTMF) technology. DTMF technology is useful technique in the present
days. It works on the methods digital signal processing. Wireless control robots will
use RF circuit that has many drawbacks like limited working range and limited
control. This DTMF will have advantage over the RF, it will increase the range of
working and also gives the good results in case of motion and direction of robot
using the mobile phone through a micro controller. This type of wireless
communication gives a remote handling operation of Robot using the DTMF. A robot
is an electro-mechanical machine which has been guided by the computer, Mobile
phone or programming, and is able to do the tasks by its own.

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 INDEX

Chapter_1 Introduction Page no:

1.1 Introduction 8
1.2 Problem Statement 9

Chapter_2 Literature Survey and Objectives 10-11

2.1 Literature Survey 10
2.2 Objectives 11

Chapter_3 Proposed Work 12-24

3.1 Block Diagram 12
3.2 Flow Chart 13
3.3 Methodology 15
3.4 Requirements and Specifications 16
3.5 Implementation 24

Chapter_4 Result 25-26

4.1 Results 25
4.2 Simulation Result 26
4.3 Application 27
4.4 Advantages 27
4.5 Disadvantages 27

Chapter_5 Conclusion and Future scope 28-28

5.1 Conclusion 28
5.2 Future Scope 28

5.3 Reference 29

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 CHAPTER 1:INTRODUCTION

1.1 INTRODUCTION

A robot is electro-mechanical machine which is guided by computer, Mobile phone or

programming, and is thus able to do tasks on its own. The Robot Institute of America
define “A robot is a reprogrammable multifunctional manipulator designed to move
material parts, tools or specialized device through variable programmed motions for
the performance of a variety of tasks.” Conventionally, wireless controlled robots use
RF circuits, which drawbacks of limited working range & frequency range, use of mobile
phones can overcome this limitation. It provides the advantages of robust control,
working range as large as the coverage area of the service provider, no interference
with other controllers and up to twelve controls. In this project, the robot is controlled
by a mobile phone that makes a call to the mobile phone attached to the robot. In the
course of a call, if any button is pressed, a tone corresponding to the button pressed is
heard at the other end of the call. This tone is called "Dual Tone Multiple-Frequency"
(DTMF) tone. The robot perceives this DTMF tone with the help of the phone stacked
on the robot. The received tone is processed by the Arduino microcontroller with the
help of DTMF decoder MT8870 IC the decoder decodes the DTMF tone is to its
equivalent binary digit and this binary number is sent to the microcontroller.

DTMF BASICS

Dual Tone Multi-Frequency (DTMF) is a signaling system used in telecommunication

and telephony to transmit information, typically for interactive voice-based services
such as phone menus, automated customer service systems, and secure authentication
processes. The DTMF system employs a matrix of buttons on a telephone keypad, with
each button representing a unique combination of two frequencies – one from a low-
frequency group and one from a high-frequency group. When a button is pressed, the
corresponding pair of frequencies is generated. These frequencies are then detected by
the receiving system, allowing for the transmission of data or commands.

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 DTMF tones are produced by combining two specific frequencies from the following sets:
.
Low Frequencies:
•697 Hz
•770 Hz
•852 Hz
•941 Hz

High Frequencies:
•1209 Hz
•1336 Hz
•1477 Hz
•1633 Hz

These frequencies are generated by pushing the buttons on a standard telephone keypad.
For example, pressing the number '1' generates a combination of 697 Hz and 1209 Hz,
while pressing the number '5' produces 770 Hz and 1336 Hz simultaneously.

1.2 PROBLEM STATEMENTS

1. DTMF Control: The user should be able to control the movement of the robotic
vehicle using DTMF tones generated by pressing keys on a telephone keypad.
2. Wireless Operation: The vehicle should be designed to operate wirelessly, receiving
DTMF commands from a remote location.
3. Motor Control: The robotic vehicle should be equipped with motor drivers and DC
motors for locomotion.
4. Customization: Allow users to customize the DTMF tone-command mappings to suit
their preferences or specific applications.
5. User Interface: Develop a user-friendly interface that provides clear instructions for
using the DTMF keypad to control the vehicle.

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 CHAPTER_2 LITERATURE REVIEW AND OBJECTIVES

2.1 LITERATURE SURVEY

1.The authors Awab Faikh , Jovita Serao presented a paper titled “ Cell phone
operated robotic car”. In this paper the authors used IC89C51, DTMF, radio
control, remote control vehicle and design the new method of construction of
cell phone controlled robotic car. The RF circuit are used for limited distance so
to overcome this problem authors uses the DTMF which will used for long
distance. The main aim of this project is to control a robotic car using DTMF
frequency.

2. Yun Chan Cho and Jae Wook Jeon “Remote Robot control System based on
DTMF of Mobile Phone”, IEEE International Conference INDIN 2008, July 2008.

3. In the year April 2014 the author Amey Kelkar presented a paper
“Implementation of unmanned vehicle using GSM network with Arduino” In
this paper author used robot, GSM, Arduino, DTMF decoder. In this paper they
represented a vehicle development which is controlled by GSM and an
Arduino is used for design of the vehicle. This system used DTMF frequency
and it can be controlled over very long distance.

4. Yi Jincong developed the Intelligent Robot Obstacle Avoidance System Based

on Fuzzy Control that utilizes signals of the ultrasonic sensors to avoid obstacle
and fuzzy theory with sensor signals is used to control the speed of the
wheeled mobile robot and make it move to target location.

5. Sng Hong Lian developed an obstacle avoidance mobile robot which is

controlled by a Fuzzy logic controller which can also measure the distance and
climb up the walls in which the Fuzzy logic concept was adopted.

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 6. Shreyansh Sharma, Harshit Pandey “Object Recognition using Tensorflow
and Convolutional Neural Network”, International Research Journal of
Engineering and Technology (IRJET),Volume: 07 Issue: 07 , July 2020.

7. Arpit Sharma, Retesh Verma, Saurabh Gupta and Sukhdeep Kaur Bhatia,
“Android Phone Controlled Robot Using Bluetooth”, International Journal of
Electronic and Electrical Engineering. Volume 7, Number 5 (2014), pp. 443-
448. [6] P. D. Minns, Atmega32 for Arduino Microcontroller System. Author
House, 2013.

8.Dheepak Mohanraj, MICROCONTROLLER BASED AN AUTONOMOUS

WIRELESS LINE TRACKING ROBOT, International Journal of Advanced
Engineering Research and Studies E-ISSN22498974.

2.2 OBJECTIVES

1. To overcome the problem of NLOS and range problem approach using

mobile technology.
2. Control the robot movement being anywhere in the world.
3. To establish exchange of data wirelessly in a range of distance by providing
a necessary platform to create convenience and controllability.
4. To implement wireless communication which is more convenient to use
than wire communication while operating the system and make us easier
to use them.
5. To implement A low-cost solution system which can be easily deployed by
wireless mode of communication.

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 CHAPTER_3 PROPOSED WORK

3.1 BLOCK DIAGRAM

Remote section: As shown in the figure 3.1 this section’s main component is DTMF.
Here we get a tone from our cellphone by using aux wire to DTMF Decoder IC namely
MT8870 which decodes the tone into digital signal of 4bit.

Control Section: Arduino UNO is used for controlling whole the process of robot.
Arduino reads commands sent by DTMF Decoder and compare with define code or
pattern. If commands are match Arduino sends respective command to driver
section. The Arduino uno module is shown in the figure 3.1.

Driver section: driver section consists motor driver and two DC motors. Motor driver
is used for driving motors because Arduino does not supply enough voltage and
current to motor. So we add a motor driver circuit to get enough voltage and current
for motor. By collecting commands from Arduino motor driver drive motor according
to commands. The motor driver is shown in the figure 3.1.

Figure 3.1: Block diagram of working of robotic vehicle

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 3.2 FLOWCHART

As shown in fig 3.2 first we have to build the communication between the remote phone
and receiver phone by making a call from remote phone and the call is answered by
receiver mobile phone which is connected to the robot is in auto receiving mode.

1. Start: Indicating the beginning of the process.

2. Initialize System : This step involves initializing the robotic vehicle's control system,
including the microcontroller, DTMF decoder, motor drivers, and communication
interfaces.

3. Receive DTMF Signal: The system waits for the reception of DTMF signals from a
remote control device, such as a DTMF keypad or a mobile phone.

4. Decode DTMF Signal: The DTMF decoder processes the received audio signal and
decodes it into a corresponding digital signal that represents the pressed keys. Each key
press corresponds to a specific pair of frequencies.

5.Check Key Press: The decoded DTMF signal is checked to determine which key has
been pressed. This step involves a series of conditional statements or a switch case to
identify the pressed key.

6. Control Actions: Depending on the pressed key, the flowchart branches off into
different actions to control the robotic vehicle's movement:

Left: If the key ’4’ is pressed, the robotic vehicle is commanded to turn left.

Right: If the key ‘6’ is pressed, the robotic vehicle is commanded to turn right.

Stop: If the key ‘5’ is pressed, the robotic vehicle's movement is halted.

Forward: If the key ’2’ is pressed, the robotic vehicle is commanded to move
forward.

Backward: If the key ‘8’ is pressed, the robotic vehicle is commanded to move
backward.

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 7. Execute Actions: The control commands generated in the previous step are executed
by sending appropriate signals to the motor drivers. This results in the desired
movement of the robotic vehicle.

8. Loop: After executing the action, the flowchart returns to the "Receive DTMF Signal"
step, allowing the system to continuously monitor for new DTMF signals and control the
robotic vehicle's movement accordingly.

9. End: The flowchart ends at this point, indicating the completion of the process.

Figure 3.2: Flowchart of robotic vehicle flowchart

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 3.3 METHODOLOGY

DTMF controlled robotic vehicle run by some commands that are send via mobile
phone. We are here using DTMF function of mobile phone. Here we have used the
mobile phone to show working of project. One is user mobile phone that we will
call ‘remote phone’ and second one that are connected with Robot’s circuit using
aux wire. This mobile phone we will call ‘Receiver Phone’.

Step_1: Mobile phone which is connected to the robot is in auto receiving mode.

Step_2: For the control of robot, we have to make a call to the mobile phone
which is attached to the robot using earphone. thus two mobile phone are
connected via mobile network.

Step_3: When the call is received then press the button in your mobile.

step_4: DTMF tone is received by the mobile that is connected with the robot
through headphone.

step_5: These signals are received by the DTMF decoder that decodes the signal in
binary sequence to the microcontroller. Sequences are given in table 1

Step_6: Due to the programming in controller robot will move when pressing key in
the mobile.

Step_7: Microcontroller outputs are in binary form. The high output of the
controller drives the motor driver to drive the motor in forward direction.

Step_8: Similarly we can move the motor in backward, left, right motion and stop
condition.

Step_9: According to the source code given here key 2 is for forward, key 4 is for
left rotation, key 6 is for right rotation, key 8 for reverse rotation in this robot

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 3.4 HARDWARE REQUIREMENTS AND SPECIFICATIONS

3.4.1 DTMF decoder using MT8870

DTMF is commonly found in tone based dial pad devices such as mobile phones or
telephones dial pad. When the dial pad is pressed, it produces a combination of two
separate sine waves which is a unique frequency signal that can be decoded and
produced as a binary output. MT8870 based DTMF module does exactly the same
thing. The pressed button can easily be identified by checking the binary output. It
can produce binary output by getting tone input from 0-9 number, A - D letters, *
and # symbols. The important components on the MT8870 DTMF Module are
marked below. The DTMF decoder module is shown in figure 3.4.1.

Features of MT8870 Decoder Module

1.Power Input: 5V Nominal (4.5V - 5.5V)

2.Onboard 3.5mm jack input Facility
3.MT8870 Based Frequency Decoder
4.5 Channel Interface
5.Detects 0-9, A-D, *, #
6.LED notifier for Output state
7.2.54” Pin pitch
8.Board Dimension: 37 x 25 x 12 mm (l x w x h)

Figure 3.4.1: DTMF decoder module

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 3.4.2. Arduino uno

The Arduino UNO is a standard board of Arduino. Here UNO means 'one' in Italian. It
was named as UNO to label the first release of Arduino Software. It was also the first
USB board released by Arduino. It is considered as the powerful board used in various
projects. Arduino.cc developed the Arduino UNO board shown in the figure 3.4.2.

Features of Arduino uno

1. ATmega328 Micro controller- It is a single chip Micro controller of the ATMEL

family. The processor code inside it is of 8-bit. It combines Memory (SRAM,
EEPROM, and Flash), Analog to Digital Converter, SPI serial ports, I/O lines,
registers, timer, external and internal interrupts, and oscillator.
2. ICSP pin - The In-Circuit Serial Programming pin allows the user to program using
the firmware of the Arduino board.
3. Power LED Indicator- The ON status of LED shows the power is activated. When
the power is OFF, the LED will not light up.
4. Digital I/O pins- The digital pins have the value HIGH or LOW. The pins numbered
from D0 to D13 are digital pins.
5. TX and RX LED's- The successful flow of data is represented by the lighting of
these LED’s.
6. AREF- The Analog Reference (AREF) pin is used to feed a reference voltage to the
Arduino UNO board from the external power supply.
7. Reset button- It is used to add a Reset button to the connection.
8. USB It allows the board to connect to the computer. It is essential for the
programming of the Arduino UNO board.
9. Crystal Oscillator- The Crystal oscillator has a frequency of 16MHz, which makes
the Arduino UNO a powerful board.
10. Voltage Regulator- The voltage regulator converts the input voltage to 5V.
11. GND- Ground pins. The ground pin acts as a pin with zero voltage.
12. Vin- It is the input voltage.
13. Analog Pins- The pins numbered from A0 to A5 are analog pins. The function of
Analog pins is to read the analog sensor used in the connection. It can also act as
GPIO

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 Figure 3.4.2:Arduino UNO

3.4.3. Motor Driver L293D

The L293D is a 16-pin Motor Driver IC which can control a set of two DC motors
simultaneously in any direction. The L293D is designed to provide bidirectional drive
currents of up to 600 mA (per channel) at voltages from 4.5 V to 36 V (at pin 8!). You
can use it to control small dc motors - toy motors. Sometimes it can be extremely hot.
The motor driver is shown in the figure 3.4.3.

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 Features of Motor Driver

1. L293d could be used to control the two motors at the same time.
2. It has the ability to control the speed by using the enable pin.
3. The direction is also easy to change.
4. Voltage supply range is higher than other IC. Voltage range between 4.5-36
volts can easily handle by the IC to the motor.
5. The motor has a maximum continuous range of current close to 600mA but
the maximum peak current range is 1.2A
6. It has an automatic shutdown system on thermal condition.
7. Its working range is from 0 – 70 degree which is much higher for any small-
sized IC.
8. It has an internal back emp protection for IC and the controlling device.

Figure 3.4.3: Motor Driver L293D

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 3.4.4. 9 volt battery

The nine-volt battery, or 9-volt battery as shown in the figure 3.44, is a common
nominal battery voltage; actual voltage of a new or fully-charged battery ranges
from 7.2 to 9.6 volts depending upon technology. Batteries of various sizes and
capacities are manufactured; a very common size is known as PP3, introduced for
early transistor radios.

Features of 9 volt battery

9V Battery Nominal Voltage: 9 Volts

Capacity (Alkaline) ≈ 550 mAh

Capacity (Carbon-Zinc) ≈ 400 mAh

Capacity (Lithium Primary) ≈ 1200 mAh
Capacity (NiMH) ≈ 175-300mAh
Operating Temperature: 0°C – 60°C
Length: 17.5 mm
Height: 48.5 mm
Width: 26.5 mm
Chemistry: Alkaline, Lithium, Carbon-Zinc,
NiCd, NiMH, Lithium-Ion

Figure 3.4.4: 9 volt battery

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 3.4.5. mobile phones

DTMF controlled robotic vehicle run by some commands that are send via mobile
phone. We are here using DTMF function of mobile phone. Here we have used the
mobile phone to show working of project. One is user mobile phone that we will
call ‘remote phone’ and second one that are connected with Robot’s circuit using
aux wire. This mobile phone we will call ‘Receiver Phone’.

3.4.6. Aux Wire

Aux cables are slim wires ideally meant to transfer sound. These can be connected
to smartphones, music systems, car music systems, or computer speakers.
This aux cable has a 1.5 m long tangle-free cord. This audio cable has a PVC jacket
cover that prevents tangles and delivers superior performance.

Figure 3.4.6: AUX Wire

3.4.7. Robotic Vehicle Wheels

Wheels are those primitive circular blocks that rotate for the car to move. They
are placed vertically under the vehicle which doesn’t only allow movement but
also provides support for the vehicle and heavy loads.

Figure 3.4.7: Robotic Vehicle Wheels

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 3.4.8. Connecting Wires

A jumper wire (also known as jumper, jumper wire, DuPont wire) is an electrical
wire, or group of them in a cable, with a connector or pin at each end (or
sometimes without them – simply "tinned"), which is normally used to
interconnect the components of a breadboard or other prototype or test circuit,
internally or with other equipment or components, without soldering.
Individual jump wires are fitted by inserting their "end connectors" into the slots
provided in a breadboard, the header connector of a circuit board, or a piece of
test equipment.

Features

1. Compatible with 2.54mm spacing pin headers

2. 40pcs chromatic color jump wire
3. High quality and in good working condition
4. Durable and reusable
5. Easy to install and use
6. A popular choice for construction or repair
7. Be used for the electronic project and Genuine Arduino product
8. Flexible Breadboard Jumper Cable Wire allows you to plug and unplug easily
for prototyping.

Figure 3.4.8: Jumper Wires

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 SOFTWARE REQUIREMENT

Arduino IDE is an open-source software, designed by Arduino.cc and mainly used for
writing, compiling & uploading code to almost all Arduino Modules.

1. It is an official Arduino software, making code compilation too easy that even a
common person with no prior technical knowledge can get their feet wet with the
learning process.
2. It is available for all operating systems i.e. MAC, Windows, Linux and runs on the
Java Platform that comes with inbuilt functions and commands that play a vital
role in debugging, editing and compiling the code.
3. A range of Arduino modules available including Arduino Uno, Arduino Mega,
Arduino Leonardo, Arduino micro and many more.
4. Each of them contains a microcontroller on the board that is actually programmed
and accepts the information in the form of code.
5. The main code, also known as a sketch, created on the IDE platform will ultimately
generate a Hex File which is then transferred and uploaded in the controller on
the board.

Figure 3.4.9: Logo of Arduino IDE software

LANGUAGE: Embedded C

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 3.5 IMPLEMENTATION

Circuit diagram for Arduino based DTMF Controlled Robot:

As shown in the figure 3.5.1, here one motor driver is connected to Arduino for
driving robot. Motor driver’s input pin 2, 7, 10 and 15 is connected at Arduino digital
pin number 6, 5, 4 and 3 respectively. Here we have used two DC motors to driver
robot in which one motor is connected at output pin of motor driver 3 and 6 and
another motor is connected at 11 and 14. A 9 volt Battery is also used to power the
motor driver for driving motors. A DTMF decoder attached with this circuit and this
decoder is plugged into a mobile using an aux wire for receiving command or DTMF
Tone. DTMF decoder pin D0-D3 is directly connected with Arduino’s pin number
19,18,17,16. Two 9 Volt batteries are used to power the circuit in which one is used
for power the motors, connected at motor driver IC pin number 8. And another
battery is connected to power the remaining circuit.

Figure 3.5.1: Circuit diagram of robotic vehicle

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 CHAPTER_4 RESULT

4.1 OVERALL RESULT

After complete setup the result as shown in the figure 4.1 is tested according to
code. The result will be the controlling the movement of robotic vehicle using
Arduino microcontroller.
In order to pass the command we have to write the instruction on the Arduino IDE
software. The output from the receiver phone are taken as values for different
command values. These commands are used to move the robotic vehicle forward,
backward left, right, and to stop the vehicle. We have used 2,4,5,6,and 8 values on
the receiver phone as commands to move forward, left, stop, right and backward the
robotic vehicle.

Figure 4.1: Model of robotic vehicle

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 4.2 SIMULATION RESULT

Simulation results provide a virtual representation of how a system or process would

behave in real-world scenarios. In the context of a DTMF controlled robotic vehicle,
simulation results would show how the vehicle responds to DTMF commands,
moves, and interacts with its environment. The simulation result is shown in the
figure 4.2.

4.2 Simulation Result

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 4.3 APPLICATION

1. This type of wireless communication (GSM) gives the security of robots when
the owner is not present.
2. Operating robot from a remote place anywhere in the world with any
telecommunication device having DTFM technology.
3. Remote control vehicles have various scientific uses including hazardous
environments, working in the deep ocean , and space exploration.
4. DTMF robot with camera can be used in surveillance systems.
5. It will used in Search and Rescue Operations and Scientific Applications.

4.4 ADVANTAGES

6. The main advantage of this robotic vehicle is it can be controlled from any
distance using the DTMF technology
7. User can control this robot from far and it also provides better motion and
direction of the robot
8. DTMF’s technology is simple, low cost, as well as its already popular status in
the telephone industry of today.
9. The implementation of this robotic vehicle has overcome the drawbacks of RF
communication of limited range

4.5 DISADVANTAGES

10. DTMF robot may not work properly if it is operated with another mobile when
there is no signal.
11. Mobiles with particular jacks are only used.
12. As signal strength decreases the performance of the system also degrades.

Dept. of ECE, Dr. AIT, Bangalore-56 27 | P a g e

 CHAPTER_5 CONCLUSION AND FUTURE SCOPE

5.1 CONCLUSION

The implementation of this robotic vehicle has overcome the drawbacks of RF

communication of limited range. The main advantage of this robotic vehicle is it can be
controlled from any distance using the DTMF technology. It also provides advantages of
robust control, less requirement of transmitter and receiver unit, wide working range
without interference with other controllers and it has nearly twelve controls.

5.2 FUTURE SCOPE

The future scope of DTMF (Dual-Tone Multi-Frequency) controlled robotic vehicles

continues to be promising, although newer technologies and control methods have
also emerged since DTMF's inception. Improved Communication Protocols: While
DTMF has been widely used for remote control, newer communication protocols like
Bluetooth, Wi-Fi, and even 5G can offer more reliable and faster communication
between the controller and the robotic vehicle. Integrating these protocols can
enhance real-time control and enable more complex functionalities. Autonomous
Navigation: Combine DTMF control with autonomous navigation capabilities. This
would allow the robotic vehicle to follow a DTMF command and then autonomously
navigate a given environment, avoiding obstacles and making decisions on its own.
Multi-Robot Coordination: Develop systems that allow multiple robotic vehicles to
work together seamlessly, controlled via DTMF commands. This could be useful in
scenarios like search and rescue missions or collaborative industrial tasks.
Entertainment and Events: DTMF-controlled robotic vehicles can be used in
entertainment settings, such as theme parks or events, providing an interactive and
engaging experience for visitors.

Dept. of ECE, Dr. AIT, Bangalore-56 28 | P a g e

 5.3 REFERENCES

1. Awab Fakih, Jovita Serrao, “Cell Phone Operated Robotic Car.” International
Journal of Scientific & Engineering Research, ISSN 2229-5518.
2. Yun Chan Cho and Jae Wook Jeon “Remote Robot control System based on
DTMF of Mobile Phone”, IEEE International Conference INDIN 2008, July
2008.
3. http://www.dialabc.com/sound/dtmf.html
4. http://www.robotplatform.com/howto/LP93/motor_driver_1.html
5. http://www.atmel.in/devices/ATMEGA328.aspx
6. Datasheet MT8870 Zarlink Semiconductor.
7. Humayun Rashid, Akash Mahmood, Sarjahan shekha, “Design and Development
of a DTMF Controlled Room Cleaner Robot with Two Path-Following Method.”
September 2020, 19th International Conference on Computer and Information
Technology.
8. http://www.rakeshmondal.info/L293D-Motor-Driver Proceedings of 4th
International Conference on Energy Efficient Technologies for
Sustainability(ICEETS18)
9. www.datasheetarchive.com/MT8870- datasheet.html
10. Feasibility Study of DTMF Communications for Robots‟, UWEE Technical Report,
Number UWEETR-2004-0013, April 6, 2004.
11. www.nex-robotics.com/.../motorcontrollers/l293d-motor-driver-ic.html
12. www.active-robots.com/.../av-modules.shtml - United Kingdom
13. www.spyville.com/camera-detector.html
14. John Iovine‟s Second Edition McGraw-Hill „Robots, Androids, and Animations 12
Incredible Projects You Can Build‟
15. Douglas H. William‟s McGraw-Hill “PDA Robotics Using Your Personal Digital
Assistant to Control Your Robot”.
16. “Remote robot control system based on DTMF of mobile phone” published in
6th IEEE International Conference.

Dept. of ECE, Dr. AIT, Bangalore-56 29 | P a g e