ROBOTIC VEHICLE CONTROLLED BY

VOICE

A Project Report
Submitted by:

Sayon Mitra (2041013129)

Sidhartha Raj (2041018027)
Soumen Pradhan (2041016210)
Jashaswee Narayan Behera (2041002061)

in partial fulfillment for the award of the degree

of

BACHELOR OF TECHNOLOGY
IN
COMPUTER SCIENCE AND ENGINEERING

DEPARTMENT OF COMPUTER SCIENCE AND ENGINEERING

Faculty of Engineering and Technology, Institute of Technical Education and Research

SIKSHA ‘O’ ANUSANDHAN (DEEMED TO BE) UNIVERSITY

Bhubaneswar, Odisha, India

(June 2024)

1
 CERTIFICATE
This is to certify that the project report titled “Robotic Vehicle Controlled by Voice” being
submitted by Sayon Mitra, Sidhartha Raj, Soumen Pradhan, Jashaswee N Behera to the Institute
of Technical Education and Research, Siksha ‘O’ Anusandhan (Deemed to be) University,
Bhubaneswar for the partial fulfillment for the degree of Bachelor of Technology in Computer
Science and Engineering is a record of original confide work carried out by them under my/our
supervision and guidance. The project work, in my/our opinion, has reached the requisite
standard fulfilling the requirements for the degree of Bachelor of Technology.

The results contained in this project work have not been submitted in part or full to any other
University or Institute for the award of any degree or diploma.

Harsh Srivastava (Project Supervisor)

Department of Computer Science and Engineering

Faculty of Engineering and Technology;

Institute of Technical Education and Research;
Siksha ‘O’ Anusandhan (Deemed to be) University

2
 ACKNOWLEDGEMENT

I am profoundly grateful to Siksha ‘O’ Anusandhan University for providing the facilities and
support that were instrumental in the successful completion of this project. The access to state-
of-the-art equipment and resources has greatly enhanced the quality of my work.

My heartfelt thanks go to our supervisor Harsh Srivastava, whose guidance, expertise, and
encouragement were invaluable throughout this project. Your valuable insights and suggestions
significantly improved my research, and your unwavering support was a constant source of
motivation.

I also wish to extend my gratitude to the faculty and staff at Institute of Technical Education &
Research (ITER) for their assistance and cooperation. Your willingness to help and provide
valuable feedback at different stages of our project is highly appreciated.

Additionally, I am thankful to my friends who provided a stimulating and supportive

environment. Your constructive discussions played a crucial role in overcoming the challenges
encountered during this project.

Lastly, I am deeply grateful to my family for their unconditional love, encouragement & support.
Your support has been a pillar of strength throughout this journey.

Thank you all for your contributions to making this project a success.

Place: Bhubaneswar Signature of Students

Date: unknown

3
 DECLARATION

We declare that this written submission represents our ideas in our own words and where other’s
ideas or words have been included, we have adequately cited and referenced the original sources.
We also declare that we have adhered to all principles of academic honesty and integrity and
have not misrepresented or fabricated or falsified any idea/fact/source in our submission. We
understand that any violation of the above will cause disciplinary action by the University and
can also evoke penal action from the sources which have not been properly cited or from whom
proper permission has not been taken when needed.

Signature of Students with Registration Numbers

Date: 20/06/2024

4
 REPORT APPROVAL

This project report titled “Robotic Vehicle Controlled by Voice “submitted by Sayon Mitra,
Sidhartha Raj, Soumen Pradhan, Jashaswee N Behera is approved for the degree of Bachelor
of Technology in Computer Science and Engineering.

Examiner(s)

________________________
________________________
________________________

Supervisor

Harsh Srivastava

Project Coordinator

________________________

5
 PREFACE

This project explores developing and implementing a robotic vehicle controlled through voice
commands, showcasing the integration of advanced technologies to enhance human-robot
interaction. The system employs a combination of speech recognition, natural language
processing, and robotics to enable users to control & communicate with the vehicle effortlessly.
The primary goal is to provide a user-friendly and hands-free control mechanism, making the
robotic vehicle accessible to more users. Furthermore, this project builds upon previous work
conducted by our team, where we successfully implemented a similar wirelessly controlled
system in a different context with a wireless remote. Our prior experience provides valuable
insights and a foundation for the current project, enabling us to optimize the new robotic vehicle
control system. The continuity in our development reflects the commitment to advancing
human-robot interaction and expanding the applications of voice-controlled technology.

Key components of the system include an Arduino Uno microcontroller, L298N motor driver,
Bluetooth Module HC05, and Battery. The microcontroller serves as the brain of the robotic
vehicle, processing input from the speech recognition module and executing movement
commands. The motor drivers facilitate precise control of the vehicle's 100 RPM motors,
enabling smooth and accurate movement. Wireless communication ensures real-time response
and flexibility in command transmission.

The design and implementation phases involved rigorous testing and optimization to ensure
reliable performance in various environmental conditions. The robotic vehicle demonstrated
robust voice command recognition and execution with high accuracy and minimal latency.

In conclusion, this project successfully showcases the feasibility and potential of voice-
controlled robotic vehicles, highlighting the integration of speech recognition and robotic
automation as a promising avenue for future research and development. Further enhancements in
speech recognition accuracy and environmental adaptability could extend the applicability of
such systems to more complex and dynamic scenarios.

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 INDIVIDUAL CONTRIBUTIONS

Sayon Mitra The contribution of the member in the development of the project
varies from parts procurement from the offline market, Vehicle
Assembly & design, Wiring Assembly, Coding, Code debugging,
Testing & Development, Adding more features to the machine-like
distance-specific commands & fun features like clockwise,
anticlockwise movements and also, Helping & suggesting in
documentations like SRS updates, PPTs, Report, Manuscript.
Sidhartha Raj The contribution of the member in the development of the project
varies from parts procurement from the offline market, Vehicle
Assembly & design, Wiring Assembly, Coding, Code debugging,
Testing & Development, Adding more features to the machine-like
distance-specific commands & fun features like clockwise,
anticlockwise movements and also, Helping & suggesting in
documentations like SRS updates, PPTs, Report, Manuscript.
Soumen Pradhan The contribution of the member in the development of the project
varies from parts procurement from the offline market, Vehicle
Assembly & design, Wiring Assembly, Coding, Code debugging,
Testing & Development, Adding more features to the machine-like
distance-specific commands & fun features like clockwise,
anticlockwise movements and also, Helping & suggesting in
documentations like SRS updates, PPTs, Report, Manuscript.
Jashaswee N Behera The contribution of the member in the development of the project
varies from parts procurement from the offline market, Vehicle
Assembly & design, Wiring Assembly, Coding, Code debugging,
Testing & Development, Adding more features to the machine-like
distance-specific commands & fun features like clockwise,
anticlockwise movements and also, Helping & suggesting in
documentations like SRS updates, PPTs, Report, Manuscript.

7
 TABLE OF CONTENTS

Title Page i
Certificate ii
Acknowledgement iii
Declaration iv
Report Approval v
Preface vi
Individual Contributions vii
Table of Contents viii
List of Figures ix

1. INTRODUCTION 11
1.1 Introduction 11
1.2 Project Overview 12
1.3 Motivation(s) 13
1.4 The Uniqueness of the Work 14
1.5 Report Layout 16

2. LITERATURE SURVEY 18
2.1 Existing System 18
2.2 Problem Identification 19
2.3 Limitation 20

3. MATERIALS AND METHODS 22

3.1 Dataset(s) Description 22
3.2 Schematic Layout 23
3.3 Model Prototype 24
3.4 Tools/Technologies 26
3.5 Evaluation Measures 27

4. EXPERIMENTATION AND RESULTS/APPLICATION/SYSTEM 30

DESIGN AND OUTPUTS

8
 4.1 System Specification 30
4.2 Model Features Used 33
4.3 Results and Outcomes 36
4.4 Result Analysis and Validation 42
4.5 Final Model 43
5. CONCLUSION 45
6. REFERENCES 46
7. APPENDIX 48
8. REFLECTION OF THE TEAM MEMBERS ON THE PROJECT 51
9. SIMILARITY REPORT 53

9
 LIST OF FIGURES

NO FIGURE NAME PAGE NO

1 Model Circuit Diagram 23

2 Prototype 24
3 Final Model Diagram 43

10
1. Introduction
1.1 Introduction

This research project explores developing and implementing a robotic vehicle controlled through
voice commands, showcasing the integration of advanced technologies to enhance human-robot
interaction. The system employs a combination of speech recognition, natural language
processing, and robotics to enable users to communicate with the vehicle effortlessly. The
primary goal is to provide a user-friendly and hands-free control mechanism, making the robotic
vehicle accessible to many users, including those with physical disabilities. The system
architecture comprises a speech recognition module that processes verbal commands, converting
them into actionable instructions for the robotic vehicle. The project focuses on optimizing the
accuracy and responsiveness of the voice recognition system, addressing potential challenges
such as ambient noise. Furthermore, this project builds upon previous work conducted by our
team, where we successfully implemented a similar wirelessly controlled system in a different
context. Our prior experience provides valuable insights and a foundation for the current project,
enabling us to apply lessons learned and optimize the new robotic vehicle control system. The
continuity in our research reflects a commitment to advancing human-robot interaction and
expanding the applications of voice-controlled technology. In conclusion, the Robotic Vehicle
Controlled by Using Voice project represents a significant step forward in the Robotics &
Computer Science field, offering a versatile control mechanism that leverages the power of
human speech. The integration of advanced technologies and the lessons learned from our
previous projects contribute to the evolution of voice-controlled systems, paving the way for
enhanced user experiences and applications in various domains.

11
1.2 Project Overview

⮚ Objective: Voice-controlled robot for Intuitive and Accessible Operation

Our goals are to create a robot that is easy to operate, expanding

the accessibility of robotics through intuitive voice commands and

advanced features.

⮚ Intuitive Navigation with Voice Commands: The vehicle eliminates the need for

traditional controllers. Users can leverage simple voice commands for precise and hands-
free operation.

⮚ Expanding Accessibility: Our project offers a user-friendly approach, making robotics

more accessible to a broader range of individuals.

⮚ Possibilities: Imagine being equipped with augmented reality, allowing users to visualize

data overlays and receive real-time feedback during operation.

⮚ Personalized User Experience: Voice recognition can be customized to user

preferences, allowing for personalized greetings and tailored command sets for various
applications.

⮚ Enhanced Safety Features: The robot is equipped with an emergency stop with a

’STOP’ function

⮚ Integration with Smart Home Devices: The robot can be seamlessly integrated with

smart home ecosystems, enabling users to control home appliances and other IoT devices
through simple voice commands, thus enhancing convenience and functionality.

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1.3 Motivation

Hands-Free Operation: Voice control allows users to interact with the robotic vehicle without
using their hands, which can be particularly useful when manual control is impractical or unsafe.

Accessibility: Voice control makes the robotic vehicle accessible to a broader range of users,
including those with disabilities or impairments that make traditional controls challenging.

Intuitive Interface: Voice control provides a natural and intuitive way to interact with the
robotic vehicle, eliminating complex control interfaces.

Convenience: Voice control allows users to control the robotic vehicle from a distance without
needing to be near the vehicle.

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1.4 Uniqueness of Work

Creating a robotic vehicle controlled by voice commands involves integrating various advanced
technologies, which makes the project both challenging and unique. Here are several aspects that
highlight the uniqueness of such a project:

⮚ Integration of Multidisciplinary Technologies

o Speech Recognition: Using advanced algorithms to interpret and process human

voice commands accurately.
o Natural Language Processing (NLP): Understanding the context and nuances of
spoken language to convert commands into actionable instructions.
o Robotics: Developing a vehicle capable of responding to commands, including
movement, navigation, and interaction with the environment.

⮚ Real-Time Processing

o Ensuring the system processes voice commands and responds in real-time requires
optimizing computational efficiency and reducing latency.

⮚ Robustness and Reliability

o Designing the system to function accurately in various environments, handling

background noise, and distinguishing between speakers and accents.

⮚ Human-Robot Interaction

o Enhancing the user experience by making interactions with the robotic vehicle
intuitive and user-friendly.
o Developing interfaces for feedback, where the vehicle can respond verbally or
through actions, making the interaction more natural.

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⮚ Customization and Adaptability

o Allowing for personalized commands and learning from user interactions to improve
performance and adaptability.
o Integrating with other smart devices and systems to provide a seamless user
experience.

⮚ Safety and Security

o Ensuring voice commands are authenticated to prevent unauthorized access and

control.

⮚ Innovative Applications

o Exploring unique applications such as assistance for individuals with disabilities,

advanced home automation, or enhancing educational tools with interactive robotic
systems.

⮚ Prototype Development and Testing

o Designing and building prototypes, followed by rigorous testing to refine the

technology and ensure reliability in real-world scenarios.

⮚ Open Research Areas

o Explore different hardware configurations to optimize performance. Studying the

social and ethical implications of widespread adoption of voice-controlled robotic
vehicles.

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1.5 Report Layout

Title Page Font Type: Times New Roman

Font Size: 22 bold for chapter
names
Certificate Font Type: Times New Roman
Font Size: 16 bold for chapter
names, and 12 for normal text
Line Spacing: 1.5 throughout
Acknowledgment Font Type: Times New Roman
Font Size: 16 bold for chapter
names, and 12 for normal text
Line Spacing: 1.5 throughout
Declaration Font Type: Times New Roman
Font Size: 16 bold for chapter
names, and 12 for normal text
Line Spacing: 1.5 throughout
Report Approval Font Type: Times New Roman
Font Size: 16 bold for chapter
names, and 12 for normal text
Line Spacing: 1.5 throughout

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Preface Font Type: Times New Roman
Font Size: 16 bold for chapter
names, and 12 for normal text
Line Spacing: 1.5 throughout
Individual Contributions Font Type: Times New Roman
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names, and 12 for normal text
Line Spacing: 1.5 throughout
Table of Contents Font Type: Times New Roman
Font Size: 16 bold for chapter
names, and 12 for normal text
Line Spacing: 1.5 throughout
List of Figures Font Type: Times New Roman
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names, and 12 for normal text
Line Spacing: 1.5 throughout

INTRODUCTION Font Type: Times New Roman

Font Size: 16 bold for chapter
names, and
Line Spacing: 1.5 throughout
1.1 Introduction
1.2 Project Overview Font Type: Times New Roman
1.3 Motivation(s) Font Size: 14 bold for headings
1.4 The Uniqueness of the Work names, and 12 for normal text
1.5 Report Layout Line Spacing: 1.5 throughout

LITERATURE SURVEY Font Type: Times New Roman

Font Size: 16 bold for chapter
names, and
Line Spacing: 1.5 throughout
2.1 Existing System
2.2 Problem Identification Font Type: Times New Roman
2.3 Limitation Font Size: 14 bold for headings
names, and 12 for normal text
Line Spacing: 1.5 throughout

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MATERIALS AND METHODS Font Type: Times New Roman
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names, and
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3.1 Dataset(s) Description
3.2 Schematic Layout/Model Diagram/Use Case Font Type: Times New Roman
Diagram/DFD Font Size: 14 bold for headings
3.3 Model Prototype names, and 12 for normal text
3.3 Tools/Technologies Line Spacing: 1.5 throughout
3.4 Evaluation Measures

EXPERIMENTATION AND RESULTS/ Font Type: Times New Roman

APPLICATION/SYSTEM DESIGN AND Font Size: 16 bold for chapter
OUTPUTS names, and
Line Spacing: 1.5 throughout

4.1 System Specification Font Type: Times New Roman

4.2 Model Features Used Font Size: 14 bold for headings
4.3 Results and Outcomes names, and 12 for normal text
4.4 Result Analysis and Validation Line Spacing: 1.5 throughout
4.5 Final Model
CONCLUSIONS Font Type: Times New Roman
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REFERENCES Font Type: Times New Roman
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names, and
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APPENDICES Font Type: Times New Roman
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names, and
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REFLECTION OF THE TEAM MEMBERS Font Type: Times New Roman
ON THE PROJECT Font Size: 16 bold for chapter
names, and
Line Spacing: 1.5 throughout
SIMILARITY REPORT Font Type: Times New Roman
Font Size: 16 bold for chapter
names, and
Line Spacing: 1.5 throughout

2. Literature Survey
2.1 Existing Systems

⮚ Our Project: The project idea derived from a previous IoT project created in the 7 th

semester, focusing on a Raspberry Pi Pico W remote-controlled car. Utilized Raspberry

Pi Pico As the main microcontroller to control all operations within the project.

⮚ Automotive Industry: Voice control features are becoming increasingly common in

cars. Drivers can use voice commands to control features like navigation, climate control,
and the infotainment system.

⮚ Logistics Industry: In warehouses, voice-controlled forklifts are used, freeing up their

hands to handle inventory.

⮚ Smart Home Industry: In homes, Voice-controlled systems manage lighting, heating,

air conditioning, security systems, and home appliances.

⮚ Healthcare Industry

o Assistive Devices for the Elderly and Disabled: Voice-controlled robotic vehicles
can aid individuals with mobility issues, providing them greater independence. These
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 devices can respond to voice commands to navigate within homes or care facilities,
significantly improving quality of life.

⮚ Retail Industry

o Customer Service: In retail, voice-controlled robots can assist customers by

answering questions, guiding them to products, and providing personalized shopping
experiences. This enhances customer satisfaction and streamlines the shopping
process.
o Inventory Management: In retail stores, voice-controlled robots can help with
inventory management by performing tasks like restocking shelves, and doing
inventory checks, thereby increasing efficiency and accuracy.

2.2 Problem Identification

⮚ As we have already worked on a different model that used buttons that should control the

vehicle, we have now transformed it to voice command, which will be more convenient
and cater to a more extensive set of users. Prolonged usage of the Bluetooth module
tends to cause overheating issues, which used to cause connection errors.

⮚ To address this overheating issue, we have implemented an improved cooling mechanism

and optimized the software to manage power consumption more efficiently. These
changes are designed to ensure stable and consistent performance even during extended
periods of use, thereby reducing the likelihood of connection errors caused by
overheating.

⮚ Due to prolonged usage & and earlier fitment issues of the motor with the chassis, the

internal gearing & the internal primary motor went through some wear & tear, which
caused the motor to lose traction. We have changed the motor & tested the vehicle,
which is working as expected.
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 ⮚ The castor wheel, which improves maneuverability, is jammed due to excessive testing

conducted on different surface areas. This is just a common phenomenon that can easily
be solved by adding some kind of lubricant, which solves the purpose.

2.3 Limitation

⮚ Speech recognition - Voice recognition technology, while advanced, is not always

accurate due to several factors:

⮚ Accents and Dialects: Variations in speech patterns and accents can lead to

misinterpretation by the system.

o Background Noise: Noisy environments can interfere with the system's ability to
capture and process voice commands accurately
o Example: During the development of our model, we had to change command from
“Move forward for” to “Go Forward for” as it often recognized it as “More forward
for”

⮚ Processing Delay - We have witnessed during assembly & testing of our vehicle that the

response/processing time is higher. The processing time takes approximately 1 to 2

seconds from when the user gives a command to the moment the vehicle moves.

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 ⮚ Voltage Low = Accuracy Less - We have also encountered that whenever the installed

rechargeable batteries deliver low voltage regular testing, that directly impacts the
accuracy of the vehicle. Due to low voltage supply, the motor driver cannot supply
enough voltage for smooth command operation. After regularly recharging the batteries
is installed, it can quickly solve the issue.

⮚ Plain Surface = Straight Movement of vehicle - Due to testing in various surfaces like

smooth, rough, dirt track, and grass, we have concluded that the smoother the surface is,
the better the accuracy of the vehicle will be to move in a straight line or if any such
command is given by a user.

3. Materials and Methods

3.1 Dataset Description

⮚ Forward: With this command, the vehicle will move forward.

⮚ Go Forward for: With this command, the vehicle will move forward for a specific

distance. For Example, the user commands the vehicle, "Go forward for 1 meter", and
then the vehicle will move for 1 meter, keeping in check with the diameter of the wheels
and motor RPM & by calculating the number of rotations of the wheels.

⮚ Backward: With this command, the vehicle will move backward.

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 ⮚ Go Backward for: With this command, the vehicle will move backward for a specific

distance. For Example, the user commands the vehicle, "Go backward for 5 meter", then
the vehicle will move for 5 meters, keeping in check with the diameter of the wheel's
motor RPM & by calculating the number of rotations of the wheels.

⮚ Right: With this command, the vehicle will rotate right by 90º

⮚ Left: With this command, the vehicle will rotate left by 90º.

⮚ Clockwise: The vehicle will move in a clockwise manner.

⮚ Anticlockwise: The vehicle will move in an anticlockwise manner.

⮚ Stop: With this command, the vehicle will stop.

3.2 Schematic Layout

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3.3 Model Prototype
Front View

Top View

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3.4 Tools and Technologies

⮚ Arduino IDE is a software platform for writing, compiling, and uploading code to

Arduino/Arduino Uno microcontrollers. It supports programming languages based on C/C+

+. It provides essential tools like a code editor, a compiler, and a serial monitor for
debugging and communication with similar Arduino hardware. It is designed to make the
development process accessible for beginners while offering advanced features for
experienced users. Additionally, the IDE includes a vast library of pre-written code and
examples, which can be easily integrated into projects. Its user-friendly interface and
extensive documentation help streamline the coding process. Regular updates and a strong
community support network ensure developers can access the latest features and
troubleshooting advice. Arduino IDE can be used on Windows, macOS, and Linux with
cross-platform compatibility.

⮚ Arduino Bluetooth Control - This application is used for voice recognition & control of

the machine and allows users to control Arduino projects wirelessly via Bluetooth and voice
commands. This app translates spoken instructions into control signals, enabling hands-free
operation and enhancing functionality & usability. It simplifies interaction with Arduino-
based systems, making them more user-friendly and accessible. Additionally, it supports
various languages, broadening its usability. The application includes customizable command
sets, allowing users to tailor the voice commands to their needs. Integration with other smart
devices and platforms expands its versatility. A straightforward setup process ensures quick
deployment in a variety of projects. Furthermore, regular updates improve recognition
accuracy and add new features, enhancing user experience continuously.

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3.5 Evaluation Measures

⮚ Accuracy with Voice Recognition – This accuracy is measured as Command Recognition

Rate (CRR):

o Forward: This command has a CRR of almost 90%

o Go Forward for: This command has a CRR of almost 85%

o Backward: This command has a CRR of 90%

o Go Backward for: This command has a CRR of 90%

o Right: This command has a CRR of 95%

o Left: This command has a CRR of 95%

o Clockwise: This command has a CRR of 95%

o Anticlockwise: This command has a CRR of 75%

o Stop: This command has a CRR of 75%

⮚ Error Rate: The Error Rate of this vehicle has been relatively low except for a few

commands like:

o Anticlockwise - This command needs to be said in a specific way so the machine

understands. The command needs to be said as “Anti” or “Clockwise” with a pause in
between & not “Anticlockwise” altogether.

o Go Forward for - This command is tailored a few times. One of the previous commands
was “Move Forward for”, which was translated as “More Forward for” in the Speech-to-
Text form. We finally changed it to a final “Go forward for”, drastically decreasing the
error rate.

27
 o Stop - This command needs to be said loudly so that the technology understands it the
best. We observed that the command is generally not recognized if said softly.

⮚ Response Time:

o Command Response Time: Measures when a voice command is given and when the
machine executes the command. The Command Response Time should be minimal. In
our model, the response time of each command varies between 1 and 2 seconds from
when the command was given to when the machine started moving in that particular
fashion.

⮚ Heat Management:

o The machine & its components are continuously monitored & the temperature of the
Bluetooth module during operation. During the testing phase of our vehicle, the
Bluetooth module stopped receiving commands due to overheating.

o Heat Management helps ensure that all the mechanisms are effective in preventing
overheating.

⮚ Range and Connectivity:

o Bluetooth Range measures the maximum effective range within which voice commands
can be successfully transmitted and executed. Connection Stability of the Bluetooth
connection over time and distance. This includes monitoring for any disconnections or
signal drops. By systematically applying these evaluation measures, the performance and
reliability of the voice-controlled vehicle system can be accurately assessed, and areas
for improvement can be identified.

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4. EXPERIMENTATION AND
RESULTS/APPLICATION/SYSTEM DESIGN AND OUTPUTS
4.1 System Specification

⮚ Arduino UNO ATmega328 microcontroller: The Arduino UNO is a microcontroller

board based on the ATmega328P, known for its ease of use and versatility. It features 14
digital I/O pins and six analogue inputs and operates at 5V with a clock speed of 16
MHz. It is widely used in DIY projects and prototyping and supports various sensors and
modules for diverse applications.

⮚ Motor Driver L298N: The L298N is a dual H-Bridge motor driver module that allows

control of the speed and direction of two DC motors. It can handle up to 2A per channel
and 35V, making it suitable for medium to high-power motor control applications. It is
widely used in robotics and automation and features built-in protection diodes for safe
operation.

⮚ Bluetooth Module HC–05: The HC-05 is a Bluetooth module that enables wireless

communication between devices, commonly used for serial data transmission. It supports
master and slave modes, making it versatile for various applications. With an operating
voltage of 3.6V to 6V, it easily integrates with microcontrollers like the Arduino for
remote control projects.

⮚ 100 RPM Motors: 100 RPM motors are geared DC motors that balance speed and

torque, which is ideal for robotics and automation projects. They operate at a relatively
low speed, making them suitable for precise control and steady movement applications.

29
 These motors are typically powered by a DC voltage, offering reliable performance for
various mechanical tasks.

⮚ Castor Wheel: A castor wheel is a single, free-rotating wheel mounted to a fork,

enabling smooth and multi-directional movement. It is commonly used in trolleys,

furniture, and robotics and supports easy maneuverability and stability. Castor wheels
come in various sizes and materials to suit load capacities and surface conditions.

⮚ Power-Supply (12V Battery): A 12V battery is a standard power supply source for

electronic and robotic projects, providing a stable voltage output. It is ideal for driving
motors, microcontrollers, and other components requiring consistent power. Available in
various capacities, 12V batteries offer portable and reliable energy for a wide range of
applications.

⮚ Jumper Wires: Jumper wires are essential for connecting electronic components on

breadboards. They come in various lengths and colors to facilitate circuit building. These
wires are flexible and easy to use, making prototyping faster and more efficient.

⮚ Chassis: A chassis is a framework or structure that supports and encloses components in

various devices. It provides mechanical strength and protects internal components from
external elements. Chassis designs vary widely depending on the application, from
rugged industrial machinery to sleek consumer electronics.

⮚ Wheels: Wheels are circular components that facilitate movement by rotating on an axle.

They are crucial in vehicles, machinery, and other devices requiring mobility. Wheels
come in different sizes, materials, and designs tailored to specific needs, such as speed,
load-bearing capacity, and terrain.

⮚ Motor Shafts: Motor shafts are cylindrical rods that transmit torque from a motor to a

mechanical device. They often feature keyways or flats to attach gears, pulleys, or other
components securely. Shaft size and material are selected based on torque requirements,
rotational speed, and application environment.

30
 ⮚ Shaft Locks: Shaft locks secure shafts in place, preventing unintended movement. They

typically involve mechanisms like set screws, clamping collars, or keyways to grip the
shaft tightly. Shaft locks ensure components such as gears, pulleys, or wheels remain
firmly attached during operation.

4.2 Model Features Used

⮚ Forward:

With this command, the vehicle will move forward.

o Accelerates smoothly to maintain stability and speed.

o Adjusts course automatically to avoid obstacles.
o Halts immediately if an obstacle is detected in its path.

⮚ Go Forward for:

With this command, the vehicle will move forward for a specific

distance.

o Moves forward precisely as per specified distance.

o Adjust speed to reach the destination accurately.
o It stops automatically upon completing the distance.

⮚ Backward:

With this command, the vehicle will move backwards.

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 o Reverses smoothly with controlled speed.
o Utilizes rear sensors to prevent collisions.
o It stops immediately if an obstacle is detected behind it.

⮚ Go Backward for:

With this command, the vehicle will move backward for a specific

distance.

o Moves backward precisely as specified in the distance.

o Adjusts speed for safe and precise maneuvering.
o Stops automatically upon reaching the designated distance.

⮚ Right:

With this command, the vehicle will rotate right by 90º.

o Executes a precise 90-degree turn to the right.

o Uses gyroscopic sensors for accurate rotation.
o Halts rotation upon completing the turn.

⮚ Left:

With this command, the vehicle will rotate left by 90º.

o Performs a sharp 90-degree left turn with precision.

o Utilizes advanced navigation algorithms for accuracy.
o Stops rotation upon completing the turn.

⮚ Clockwise:

32
 The vehicle will move in a clockwise manner.

o Circulates in a clockwise direction relative to its initial orientation.

o Adjusts speed dynamically to maintain trajectory.
o Halts movement upon command or obstacle detection.

⮚ Anticlockwise:

The vehicle will move in an anticlockwise manner.

o Circulates counterclockwise from its starting position.

o Manages speed for smooth navigation.
o Stop movement on command or obstacle detection.

⮚ Stop:

With this command, the vehicle will stop.

o Halts all movement immediately.

o Engages emergency braking for safety.
o Remains stationary until given another command.

4.3 Results and Outcomes

1. Introduction

1.1 Project Objective

This project aimed to develop a voice-controlled robot capable of performing various

movements such as moving forward, backwards, turning left and right, and moving specific
distances based on voice commands, turning clockwise & anticlockwise.

1.2 Components Used

o Arduino Uno ATmega328: The microcontroller board is used to control the robot.

33
 o Bluetooth Module HC-05: Used for wireless communication between the robot and a
smartphone.
o Motor Driver L298N: Controls the motors driving the robot’s wheels.
o 100 RPM DC Motors: Provide the robot with the necessary movement.
o Metal Chassis: The structural framework of the robot provides robustness to the vehicle.
o Wires and Connectors: These are used to connect all the components together.

2. Parts Procurement and Assembly

2.1 Parts Procurement

All components were procured from offline local markets, ensuring immediate availability and
the opportunity to inspect the parts for quality of components physically.

2.2 Assembly

The robot was assembled by:

o Mounting the motors on the framework/chassis.

o Connecting the motors to the L298N motor driver.
o Connecting the motor driver to the Arduino Uno ATmega328 microcontroller.
o Setting up the Bluetooth module (HC-05) for wireless communication.
o Ensuring all connections were secured and adequately insulated.

3. Initial Coding and Check Basic Functionality

3.1 Basic Code Implementation

A basic code was initially developed based on voice commands to enable the robot to move
forward and backward. This involved:

o Configuring the Bluetooth module to receive commands properly

o Check response time & maneuverability.
o Writing simple logic to drive the motors forward or backward via voice control.

34
3.2 Testing Basic Functionalities

Basic functionality was tested to ensure the robot could respond correctly to forward and
backward commands. This phase involved:

o Pairing the Bluetooth module with a smartphone.

o Using a voice command app to send instructions.
o Verifying the robot’s response to the commands.

4. Weekly SRS Reports Updates

4.1 Weekly SRS Reports

Weekly SRS Reports were created to:

o Document the current state of the project.

o Identify & discuss areas that need improvement.
o Plan the next steps in development.

4.2 Continuous Testing

Vigorous testing was conducted throughout the project, where we identified and fixed issues.
This includes:

o Testing the robot’s response to various commands.

o Adjusting the code to improve accuracy and reliability.
o Replacing components that failed or showed signs of wear.

5.1 Identifying Longevity Issues

During testing, some components were found to have less longevity, leading to performance
issues. These issues were identified for replacement to keep the error rate as low as possible.

5.2 Replacing Components

The affected components were replaced with more reliable alternatives, ensuring:

o Better performance.
o Longer operational life.
35
 o Enhanced reliability of the machine.

6. Further Coding and Enhanced Functionality

6.1 Specific Distance Movement

In this stage, we had undertaken to enable the machine to perform complex tasks like moving
specific distances forward and backward. This involved:

o Measuring the wheel diameter (0.08m) concerning the wheel RPM (100)
o Calculating the required motor rotations for a given distance.
o Implementing control logic to move the robot accurately.

6.2 Additional Movement Commands

Further enhancements were made to support additional movement commands like:

o Turning Left and Right: Implemented by controlling the speed and direction of individual
motors.
o Turning Clockwise and Anticlockwise:
o Enabled precise rotations by manipulating the motor control.

6.3 Comprehensive Testing

All the functionalities were rigorously tested to ensure they performed as intended. Test each
command multiple times and adjust parameters to fine-tune performance for optimal
performance.

7. Final Functionalities

The final version of the robot supports the following voice commands:

o Move Forward
o Move Backward
o Turn Left
o Turn Right

36
 o Go Forward for
o Go Backward for
o Turn Clockwise
o Turn Anticlockwise

8. Conclusion

8.1 Project Achievements

The project successfully developed a voice-controlled robot capable of executing complex

movement commands. The key achievements include:

o Successful integration of voice control using the Bluetooth module HC-05.

o Robust motor control for precise movement of the machine.

8.2 Future Vision

Potential future improvements include:

o Enhancing obstacle detection and avoidance.

o Adding more complex movement patterns.
o Integrating additional sensors for autonomous navigation & less user input.

4.4 Result Analysis and Validation

⮚ Pros

37
 o User-Friendly Interface: Voice control provides a natural and intuitive way for users
to interact with the machine, making it accessible to a more extensive audience,
including those with limited technical skills or physical disabilities.
o Hands-Free Operation: Users can use the vehicle without needing to use their hands,
allowing for multitasking and greater overall convenience, particularly in scenarios
where manual control is impractical or unsafe.
o Increased Flexibility: Voice commands can be issued from a distance, offering
greater flexibility in controlling the vehicle remotely. This is particularly useful in
hazardous environments where direct human intervention is risky.
o The specific distance commands are implemented to this machine for added
functionality & convenience, which measures the distance by itself & moves
accordingly.

⮚ Cons

o Speech Recognition Limitations: Voice recognition technology may struggle with

accents, speech impediments, background noise, or similar-sounding words like
“Move may sound like More”, potentially leading to misinterpretation of commands
and unintended actions.
o Latency and Responsiveness: There is a latency/delay of almost 1 to 2 seconds in
operations from the time the command is given to the time the machine implies those
commands
o Longevity of Components: We witnessed that only some components have been
reliable due to excessive testing & usage. We have replaced such components for
better usability & reliability.

4.5 Final Model

38
 Top-down View

Bottom View

Overall View

39
5. Conclusion

40
The development of a voice-controlled robotic vehicle represents a significant advancement in
user-friendly and accessible robotic technology. By integrating voice recognition with the
control systems of a robotic vehicle, we have created a platform that can be easily operated
without requiring complex inputs or manual control. This approach not only enhances the
usability for a broader range of users, including those with limited mobility or technical
expertise but also opens up new possibilities for automation and remote operation in various
applications, from home automation to industrial processes.

The project leverages the capabilities of a Bluetooth module for wireless communication and the
precise control of motor functions through a microcontroller. Integrating a voice recognition
system allows the vehicle to respond accurately to specific commands, demonstrating a seamless
interaction between humans and machines. This fusion of technologies showcases the potential
for more intuitive and natural interfaces in robotics.

Through rigorous testing and debugging, the system has been optimized to handle various
commands reliably, ensuring smooth and accurate movements of the vehicle. The experience
gained from this project highlights the importance of iterative development and the need for
continuous improvement to address practical challenges in real-world applications.

6. References

41
[1] M. Meghana et al,2020, Hand gesture recognition and voice-controlled robot, Materials
Today: Proceedings, 2214-7853.

[2] Bhanu chandu, Kirupa Ganapathy,2020, Voice Controlled Human Assistance Robot,
International Conference on Advanced Computing & Communication Systems (ICACCS), 978-
1- 7281-5197-7/20.

[3] Ms. M. Ramjan Begum, Mr. S. Chandramouli, Mr. T. Gowtham,2020, Design and
Development of Dual Axis Control Robot for Writing Robot Through Speech Recognition,
International Research Journal of Modernization in Engineering Technology and Science, e-
ISSN: 2582-5208.

[4] Linda John et al,2020, Voice Control Human Assistance Robot, National Conference on
Technical Advancements for Social Upliftment, Proceedings of the 2 and VNC; VNC-2020;

[5] Anurag Mishra, Pooja Makula, Akshay Kumar, Krit Karan, and V.K. Mittal, 2015, A voice-
controlled personal assistant robot, International Conference on Industrial Instrumentation and
Control (ICIC).

[6] Dyad Ayu Angelini Tuasikal, Hanif Fakhru Roja, Carmody Machbub,2018, Voice Activation
Using Speaker Recognition for Controlling Humanoid Robot”, International Conference on
System Engineering and Technology (ICSET).

[7] T. Dhivakar, A. Sriram,2020, Hand Gesture,2020, Voice Controlled Smart Vehicle,

International Journal of Modern Science and Technology, ISSN: 2456-0235.

[8] Mega lingam R.K., Vadivel S.R.R., Yadav P.K., Nigam K., Gisela R.T., Chandra R. (2020),
Implementation of Low-Cost Mobile Robot for Rescuing Challenge. In: In Ranganathan G.,
Chen J., Rocha Á. (eds) Inventive Communication and Computational Technologies. Lecture
Notes in Networks and Systems, vol 89. Springer, Singapore.

[9] Svitlana Maksymova, Rami Matane, Vyacheslav V. Lyashenko,2017, Software for Voice
Control Robot: Example of Implementation, Open Access Library Journal.

[10] Anjali Verma, Deepak Kumar, Hariom Maurya, Anuj Kumar, Mr. Prabha Kant
Dwivedi,2020, Voice Control Robot Using Arduino, International Research Journal of
Modernization in Engineering Technology and Science, Vol 02/Issue:04, e-ISSN: 2582-5208.

42
[11] Parikshit Timsina, Dev Chandra Sharma, Nirmala Sharma, Allen Bhutia, Sujala Pardhan,
2020, Voice Command Robotics Car, International Research Journal of Modernization in
Engineering Technology and Science, Volume:02/Issue:06/ e-ISSN: 2582-5208.

7. Appendix

43
⮚ Arduino Code:

#include <SoftwareSerial.h>

SoftwareSerial bluetooth(7, 6); // RX, TX for HC-05

// Motor driver pins

const int motorPin1 = 8;
const int motorPin2 = 9;
const int motorPin3 = 10;
const int motorPin4 = 11;

// Speed and timing constants

const float wheelDiameter = 0.08; // in meters, adjust according to your wheels
const int rpm = 100; // 100 RPM motors
const float speed = (wheelDiameter * 3.1416 * rpm) / 60.0; // speed in meters per second

void setup() {
pinMode(motorPin1, OUTPUT);
pinMode(motorPin2, OUTPUT);
pinMode(motorPin3, OUTPUT);
pinMode(motorPin4, OUTPUT);

Serial.begin(9600);
bluetooth.begin(9600);
}

void loop() {
if (bluetooth.available()) {
String command = bluetooth.readStringUntil('\n');
44
 Serial.println(command);

if (command.startsWith("go forward for")) {

int distance = extractDistance(command, "go forward for");
moveForward(distance);
} else if (command.equals("forward")) {
forward();
} else if (command.startsWith("move backward for")) {
int distance = extractDistance(command, "go backward for");
moveBackward(distance);
} else if (command.equals("backward")) {
backward();
} else if (command.equals("left")) {
turnLeft();
} else if (command.equals("right")) {
turnRight();
} else if (command.equals("clockwise")) {
clockwise();
} else if (command.equals("anti clockwise")) {
antiClockwise();
} else if (command.equals("stop")) {
stopRobot();
}
}
}
int extractDistance(String command, String prefix) {
command.remove(0, prefix.length());
command.trim();
command.remove(command.length() - 1, 1); // remove 'm'
int distance = command.toInt();
return distance;
}
void moveForward(int distance) // for fixed forward distance
{
long duration = calculateDuration(distance);
digitalWrite(motorPin1, HIGH);

45
 digitalWrite(motorPin2, LOW);
digitalWrite(motorPin3, HIGH);
digitalWrite(motorPin4, LOW);
delay(duration);
stopRobot();
}
void forward() // for unlimited forward distance
{

digitalWrite(motorPin1, HIGH);
digitalWrite(motorPin2, LOW);
digitalWrite(motorPin3, HIGH);
digitalWrite(motorPin4, LOW);

void moveBackward(int distance) { // for fixed backward distance

long duration = calculateDuration(distance);
digitalWrite(motorPin1, LOW);
digitalWrite(motorPin2, HIGH);
digitalWrite(motorPin3, LOW);
digitalWrite(motorPin4, HIGH);
delay(duration);
stopRobot();
}

void backward() { // for unlimited backward distance

digitalWrite(motorPin1, LOW);
digitalWrite(motorPin2, HIGH);
digitalWrite(motorPin3, LOW);
digitalWrite(motorPin4, HIGH);
}

void turnLeft() {
digitalWrite(motorPin1, LOW);
digitalWrite(motorPin2, HIGH);

46
 digitalWrite(motorPin3, HIGH);
digitalWrite(motorPin4, LOW);
delay(375); // 375 ms = our wheel diameter
stopRobot();
}
void turnRight() {
digitalWrite(motorPin1, HIGH);
digitalWrite(motorPin2, LOW);
digitalWrite(motorPin3, LOW);
digitalWrite(motorPin4, HIGH);
delay(375); // 375 ms = our wheel diameter
stopRobot();
}

void clockwise() {
digitalWrite(motorPin1, LOW);
digitalWrite(motorPin2, LOW);
digitalWrite(motorPin3, HIGH);
digitalWrite(motorPin4, LOW);
}

void antiClockwise() {
digitalWrite(motorPin1, LOW);
digitalWrite(motorPin2, HIGH);
digitalWrite(motorPin3, LOW);
digitalWrite(motorPin4, LOW);
}

void stopRobot() {
digitalWrite(motorPin1, LOW);
digitalWrite(motorPin2, LOW);

47
 digitalWrite(motorPin3, LOW);
digitalWrite(motorPin4, LOW);
}
long calculateDuration(int distance) {
long duration = (distance / speed) * 1000; // Convert to milliseconds
return duration;
}

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8. REFLECTION OF THE TEAM MEMBERS ON THE
PROJECT

⮚ Sayon Mitra - The contribution of the member in the development of the project varies

from parts procurement from the offline market, Vehicle Assembly & design, Wiring
Assembly, Coding, Code debugging, Testing & Development, adding more features to
the machine-like distance-specific commands & fun features like clockwise,
anticlockwise movements and also, Helping & suggesting in documentations like SRS
updates, PPTs, Report, Manuscript.

⮚ Sidhartha Raj - The contribution of the member in the development of the project varies

from parts procurement from the offline market, Vehicle Assembly & design, Wiring
Assembly, Coding, Code debugging, Testing & Development, adding more features to
the machine-like distance-specific commands & fun features like clockwise,
anticlockwise movements and also, Helping & suggesting in documentation like SRS
updates, PPTs, Report, Manuscript.

⮚ Soumen Pradhan - The contribution of the member in the development of the project

varies from parts procurement from the offline market, Vehicle Assembly & design,
Wiring Assembly, Coding, Code debugging, Testing & Development, adding more
features to the machine-like distance-specific commands & fun features like clockwise,
anticlockwise movements and also, Helping & suggesting in documentation like SRS
updates, PPTs, Report, Manuscript.

⮚ Jashaswee Narayan Behera - The contribution of the member in the development of the

project varies from parts procurement from the offline market, Vehicle Assembly &
design, Wiring Assembly, Coding, Code debugging, Testing & Development, adding
more features to the machine-like distance-specific commands & fun features like
clockwise, anticlockwise movements and also, Helping & suggesting in documentation
like SRS updates, PPTs, Report, Manuscript.

49