Bhivarabai Sawant Institute Of Technology &

Research ,Wagholi ,Pune

“Controlling of a 360 Degree Rotating Vehicle with Arduino and

Bluetooth Module”

Department of Mechanical Engineering

Project Guide : A. G. Patil

1) Saurabh Auti ( BA 20 )
2) Vivek Kalsekar ( BA21 )
3) Sumit Nikam ( BA23 )
 Introduction

360 degree rotating vehicle is a special type of vehicle which can rotate
360° along with the vertical axis passing through the centroid of the vehicle. It has zero
degree turning radius which means that, the vehicle is capable of rotating at the same
place, where it is standing. In this analysis, a model of a simple 360° rotating vehicle has
been shown which consists of several dc gear motors, servo motors and a control unit
operated by a motor driver with the help of Arduino and the control unit would be
governed by an android Bluetooth application through a Bluetooth module.
 Problem Statement

Due to rapid increase of financial stability,

a large number of people use their personal vehicles in their daily life. Most often they
need to deal with the issues like short parking places, taking more time to park the
vehicle or to take risky U-turns and so on. In that case, 360-degree rotating vehicle is
probably the sole solution to park as many cars as possible in small, tight parking spaces
with a short amount of time as this vehicle is capable of moving through all directions
with respect to the vertical axis.
 Previous Work

Several models were proposed earlier in different

researches for the 360-degree rotation operation of a vehicle and some of them
includes a lifting plate to be placed at the bottom center of the vehicle, to lift up the
vehicle and then rotate - which is quite inappropriate and unrealistic. Also, some of the
proposed model were introduced to be operated by chain sprocket, chain or belt drive
along with DC motors, which were quite complex in design and construction as well as
not suitable for the real-life application.
 Objectives

 To design and fabricate a model of vehicle that will rotate 360-degree

 To reduce the turning radius of a vehicle in order to ensure trouble-free U-turn
 To establish four-wheel steering mode and parallel parking mode in the vehicle
 To ensure the proper controlling of the vehicle model by Arduino & Bluetooth Module
 Methodology

In this design, the vehicle model will be powered through a

rechargeable battery. The control system of this vehicle consists of Arduino, Motor
Driver and a Control Unit. Arduino provides the necessary signals to the motor driver
first. Motor driver transmits the signal to the four dc motors which are attached with
servo motor horns as well as connected with the four wheels of the vehicle. Horns are
operated by Servo Motors as they are directly connected with Arduino. With the help of
these servos, horns are capable of having specific angular turn (i.e. 30°, 45° or 90°) and
this new position of the horns will be locked up. Then the wheels would start to rotate
with the help of dc motors.
 Work Flowchart

Select DC Select Attach wheels and

Design the
gear motors battery to dc gear motors
components
& Servo operate the with servo motor
of the vehicle
motors vehicle horns

Connect servo
Servo motor Connect the
motor horns with
provides the angular motors with the Expected Model
the output shaft of rotation of the horns control unit
servo motors
CAD Model

Figure 1: CAD representation of the model

Control Circuit Diagram

Figure 2: Control Circuit Diagram

Control Unit

Figure 3: Control Unit of the model

 Features of the vehicle

 Sideways movement
 Four-wheel steering
 360-degree turning mode
 ZERO Degree turning angle of wheels
 Sideways Movement
In order to achieve sideways movement, all the wheels of the vehicle would be
turned at 90-degree along with the normal direction of the wheels. For example,
in order to move right side parallelly, front right wheel and rear left wheel would be turned 90°
clockwise whereas rear right wheel and front left wheel would be turned 90° anti-clockwise.

Figure 4: Wheel arrangement for Sideways Movement

 Four-wheel Steering
In four-wheel steering mode, both of the rear wheels can turn opposite
to the direction of turning of the front wheels. For example, in order to have left side turn both the
front wheels would be turned left whereas the rear wheels would be turned to the right.

Figure 5: Wheel arrangement for Four-wheel Steering

 360-degree Turning Mode
This model of vehicle can rotate 360° at the same place where it is standing by using
only the length of vehicle itself. In order to achieve this, front right wheel and rear left wheel would be
turned anticlockwise at a particular angle (i.e. 45°) and front left wheel and rear right wheel would be
turned clockwise at a particular angle (i.e. 45°).

Figure 6: Wheel arrangement for 360-degree Turning Mode

 Crab Steering
In this mode, all the four wheels will be steered in the similar direction and at
the similar angle which makes the direction of all the wheels parallel to each other.
This steering mode enables the vehicle to have straight-line stability.

Figure 7: Wheel arrangement for Crab Steering

 Conclusion

 Parallel parking mode and 360-degree turning mode can

only be achieved when the vehicle is in stationary mode. Also, four-wheel steering
mode can be achieved during low-speed condition.
 Different steering mechanisms have been introduced in this vehicle and these
mechanisms would be beneficial in lightweight passenger cars and can also be
employed in automated guided vehicles for industrial purpose.
 Future Work & Real-life application
All the mechanisms that are shown here can be applicable to real-life electric
vehicles with some further modifications and calculations. For real-life application,
four independent in-wheel motors with their own steering control system –
might be used and there will be a central control unit for the operation. There would be four
independent power-on-wheel units. Each independent unit has an in-wheel motor with its own steering
control system. The wheel unit consists of an in-wheel motor with brake, a steering motor with a
gearbox and a suspension system.

Figure 12: Control Unit attached with the steering wheel Figure 13: Independent in-wheel motor with
individual steering system
 References

[1] W. C. Lee, J. W. Lin, S. M. Lee, "4-wheel Independent In-wheel-motor Drive and

Independent Steering Electric Vehicle Safety Analysis Method Based on Mass
Re-distribution Experiment", 6th International Conference on Automation, Robotics and Applications, Queenstown,
New Zealand, 2015.
[2] Y. M. Degu, D. Thomas, F. Mersha, F. Hailu, "Design and Manufacturing of Mechanical Steering System for Parallel
Parking, Zero-turning Radius, Minimum Turning Radius with Traditional Turning", Science, Technology and Arts
Research Journal, 5(1), pp. 88-94, 2016.
[3] D. S. Chaudhary, "Four-wheel Steering System", Technical report, Atmiya Institute of Technology and Science,
Gujrat, 2014.
[4] P. K. Patel, K. I. Patel, B. B. Patel, R. K. Chotalia, "Centrally and Radially Adjustable Zero-Degree Turning Radius
Four-Wheel Steering System", Technical report, 2016.
Thank You!