MAHARASHTRA STATE BOARD OF TECHNICAL
EDUCATION, MUMBAI
DR. D.Y. PATIL PRATISTHAN’S Y.B. PATIL
POLYTECHNIC, AKURDI, PUNE
Department of Mechanical Engineering
ACADEMIC YEAR
2024-2025
Capston Project Report (CPP)
ARBO
(Arduino Based Human Following Robot)
Semester: 6th Scheme: I
Branch: Mechanical Engineering Year: 3rd
TEAM
SR.N NAME OF STUDENT
O
1. Vasudev Kamble ( Team
Representative)
2. Vaibhav Hebale
3. Abhijeet Kusmude
4. Yash Kangane
CONTENT
Sr.n Particulars Page
o no.
1. Executive Summary
2. Introduction
3. Objectives of the Project
4. Applications
5. System Architecture
6. Components Used
7. Working Principle
8. Features
9. Applications in Real-Life Scenarios
10. Conclusion
11. Acknowledgments
EXECUTIVE SUMMARY
The Human-Following Robot is an innovative solution designed to
assist individuals in their daily activities by autonomously following
a person and carrying their belongings. Utilizing advanced
components such as Arduino Mega, LIDAR, and OpenMV Cam H7,
the robot seamlessly integrates navigation, obstacle avoidance, and
voice interaction technologies.
This project aims to enhance convenience and efficiency in diverse
environments, including homes, shopping malls, airports, and
industries. The robot’s ability to adapt to different use cases makes
it a versatile tool for modern-day challenges. This report outlines the
robot’s design, components, applications, and potential impact.
INTRODUCTION
The increasing need for automation and convenience in daily
life has inspired the development of a Human-Following
Robot. This robot is designed to simplify tasks by following a
designated individual and carrying items, eliminating the
need for manual transport.
In a world where time and efficiency are of paramount
importance, this robot leverages technologies such as object
detection, obstacle avoidance, and voice interaction to assist
users effectively. Its compact design and user-friendly
operation make it suitable for various applications, from
helping the elderly to transporting materials in industrial
settings.
A robot is a machine—especially one programmable by a computer—
capable of carrying out a complex series of actions automatically. [2] A
robot can be guided by an external control device, or the control may be
embedded within. Robots may be constructed to evoke human form, but
most robots are task-performing machines, designed with an emphasis on
stark functionality, rather than expressive aesthetics.
OBJECTIVES OF THE PROJECT
The primary objectives of this project include:
Human Following: The robot should accurately detect and follow a
designated human.
Obstacle Avoidance: It must identify and navigate around
obstacles in its path.
Material Transport: The robot will feature a storage area for
carrying goods.
Interactive Communication: Voice recognition and audio output
will enhance user interaction.
Reliability: The robot should operate smoothly in dynamic
environments with minimal human intervention.
Goods Transport: To provide a secure and efficient means of carrying items or
materials.
Interactive Capabilities: To enable voice-based interaction and auditory feedback.
Adaptability: To function seamlessly across multiple use cases and industries.
Human
Following
Interactive
communicat
ARB Obstacls
avoidanc
O
ion e
Goods
transport
KEY FEATURES
Advanced Navigation: Real-time tracking and path adjustment using LIDAR
and vision sensors.
Obstacle Detection: Safe and smooth operation in dynamic environments.
Voice Interaction: Voice recognition and audio feedback enhance usability.
Compact and Durable Design: A robust chassis ensures stability and
longevity.
User-Friendly Operation: Simple controls for easy deployment and usage.
UNIVERSAL APPLICATIONS
The robot’s adaptability allows it to serve in a variety of environments and
roles, including but not limited to:
1. Assistance for Individuals:
o Helping users carry personal items during walks or errands.
o Assisting people with mobility challenges by reducing their
physical load.
2. Material Handling:
o Transporting goods or materials in warehouses, factories, or
workshops.
o Streamlining repetitive tasks to enhance operational
efficiency.
3. Public Spaces:
o Supporting users in crowded environments like malls or
airports by managing their belongings.
o Guiding visitors during events or exhibitions.
4. Custom Applications:
o Can be tailored for specialized tasks in any domain requiring
autonomous navigation and transport.
TECHNICAL DESIGN OVERVIEW
The robot’s design incorporates several interconnected subsystems to
achieve its objectives:
1. Control System:
o The Arduino Mega acts as the brain, coordinating input from
sensors and controlling actuators.
2. Human Detection and Tracking:
o OpenMV Cam H7 identifies and tracks the designated user.
o LIDAR assists in precise navigation and obstacle detection.
3. Motion and Navigation:
o DC motors and a motor driver enable smooth, responsive
movement.
4. Interactive Systems:
o A voice recognition module and speaker allow interaction with
the user.
5. Power Management:
o A rechargeable 12V LiFePO4 battery ensures reliable and long-
lasting operation.
COMPONENTS AND FUNCTIONS
1. Arduino Mega
Serves as the main microcontroller, processing data from sensors and
controlling the robot’s movements.
2. LIDAR Sensor
Provides real- time distance
measurements for accurate
mapping and obstacle
detection.
Enables safe navigation
by detecting
obstacles up to several meters away.
3. OpenMV Cam H7
A vision sensor that identifies and tracks the user in dynamic
environments.
Processes image data to adjust the robot’s direction and speed.
4. Motor Driver (L298N or L293D)
Controls the DC motors to regulate movement speed and direction.
5. Geared DC Motors
Drives the robot with sufficient torque and
speed for various applications.
6. Rubber Wheels
Ensures stability and traction on diverse surfaces.
7. 12V LiFePO4 Battery
Provides consistent power supply to all components, ensuring extended
operation.
8. Servo Motor
Adds functionality for precise motion,
such as turning or lifting.
9. DF Mini Player
Plays pre-recorded audio messages or alerts.
10. Voice Recognition Module
Processes voice commands, allowing for hands-free operation.
11. Speaker
Outputs audio for user interaction or alert notifications.
12. Chassis
Offers structural stability and houses all components securely.
13. Miscellaneous Components:
Jumper Wires: For electrical connections.
3D Printed Mounts: For precise sensor placement.
Fasteners: For securing components.
OPERATIONAL WORKFLOW
o Start-Up: The robot is powered on and initializes its sensors.
o Human Detection: The OpenMV Cam H7 locks onto the user’s
position.
o Obstacle Avoidance: LIDAR detects obstacles and reroutes the
robot accordingly.
o Follow Mode: The robot continuously adjusts its speed and
direction to follow the user.
o User Interaction: Commands are processed via the voice
recognition module, with audio responses played through the
speaker.
o Task Completion: Items are transported to the desired location
before the robot powers down or returns to idle mode.
SCALABILITY AND FUTURE
PROSPECTS
Modular Design: Additional sensors and components can
be integrated to expand functionality.
Enhanced AI Capabilities: Future versions could include
advanced machine learning for smarter navigation.
Customization: Tailored designs for specific industries or
use cases.
IoT Integration: Connectivity for remote monitoring and
control.
The Human-Following Robot has been designed with
scalability at its core, making it highly adaptable to future
advancements and industry-specific needs. Its modular
structure allows for easy integration of additional sensors,
enhanced AI capabilities, and IoT connectivity for remote
monitoring and control. Future iterations can include features
like automated mapping, cloud-based data processing, and
machine learning algorithms for smarter navigation and
decision-making. This adaptability ensures the robot remains
relevant across a wide range of applications, from personal
assistance to large-scale industrial automation.
CONCLUSION
The Human-Following Robot is a versatile and
innovative solution that bridges the gap between
technology and human convenience. Its ability to
autonomously follow users, transport goods, and
navigate dynamic environments makes it an invaluable
tool for personal, commercial, and industrial use. By
addressing the needs of diverse sectors with efficiency
and safety, this robot demonstrates how engineering
can simplify complex tasks and improve everyday life.
ACKNOWLEDGMENT
We extend our heartfelt gratitude to the Engineering
Cluster for their unwavering support and guidance
throughout this project. Their expertise and resources
have been instrumental in bringing this innovative idea
to life. We also thank our mentors, teammates, and
collaborators for their dedication and valuable
contributions, which have made this project a success.
This endeavor would not have been possible without
the collective efforts and encouragement of all
involved.
