Volume 9, Issue 11, November 2020

2020
International Journal of Innovative Research in Science, Engineering and Technology (IJIRSET)

| e-ISSN: 2319-8753, p-ISSN: 2320-6710| www.ijirset.com | Impact Factor: 7.512|

||Volume 9, Issue 11, November 2020||

Obstacle Avoiding Voice Controlled Bluetooth

Car Using Arduino
S. Caroline1, Yohannus Bekuma2, J. Sam Alaric3
Asst. Prof., Dept of ECE, St. Xavier’s Catholic College of Engineering, Anna University, India1
Lecturer, Department of ECE, College of Engg. & Tech., Wollega University, Ethiopia 2
Asst. Prof., Department of ECE, College of Engg. & Tech., Wollega University, Ethiopia3

ABSTRACT: This paper is aimed on designing a flexible and cost-effective wireless automation system using
Arduino. The Bluetooth module is used to detect the command given by the user. Then the data is transmitted to the
Arduino through the Bluetooth module and after processing the input given by the user the relevant action is done in
the vehicle by the use of the driver module which controls the wheels and thus the movement of the vehicle appears.

KEYWORDS: Arduino Uno R3, Bluetooth module, obstacle detection

I.INTRODUCTION

Today, science and technology has improved a lot. It has its major impact in communication which has allowed
better social interactions. The invention of devices like mobile phones and computers has influenced the lives of many
people. The rise in technology has caused dramatic decrease in the death rate. Vehicle automation has developed
drastically with the development in technology. Vehicle automation is the control of vehicle. It decreases the
mechanical stress. In olden days, the physically challenged people need others to help for their movement and in case
of absence of others they can’t be able to do anything. Traditional wheel chair used also need others help for people
without hands.
This paper deals with designing a smart way of automation in the vehicle which helps in the movements of the
disabled person without the help of others. Through this system, only the voice of the user to control the entire vehicle
movement is used. We use mobile phones to recognize the voice of the user and transmit the data to the Arduino board
which plays a major part in the vehicle automation through a Bluetooth module. Arduino is an 8 bit micro controller
based on AT mega 328. Arduino is a standalone and an open source. It does not need to write tons of programs to work
with Arduino. It is user friendly with 1414 digital I/O pins, 6 analog inputs, a 16 MHz ceramic resonator, a USB
connector, a power jack, an ISCP header, a RESET button and supports microcontroller. It is connected to the computer
by the use of an USB cable. Here, a Bluetooth module for communication is used.
The advantage of using the Bluetooth module tis that it is compatible with most of the phones. But it also has its
own dis advantage that it has lower range of connectivity. It covers about several meters only.

II.LITERATURE SURVEY

Speech recognition technology for conversion of speech into text is implemented to help the people who are
handicapped and cannot drive their own vehicle [1]. In future, they can drive their own vehicle safely from sudden hit-
and-run cases due to automatic braking or slow down feature. An Arduino interfacing with Bluetooth module is to
provide the communication channel with device through which we will give the voice commands. For the circuitry,
programmed Arduino will give control over the motors that use to run the robotic vehicle. Ultrasonic sensors interfaced
with Arduino help in automatic slowdown or braking of a vehicle on sudden obstacle detection, and after a delay, it will
help in the avoidance of the obstacle.
Real time obstacle detection and obstacle avoidance are the two major issues in a robotic car. A system structure
in which a robotic car with user control and automatic mode is proposed [2]. The robot has many hardware components
and software component. The robot and android device communicate with each other through Bluetooth technology.
A robot which operates on the voice input and evacuate the human presence over specified area via voice
command is proposed [3]. The voice control technique consists of an Android app which communicates with the robot
via Bluetooth module. The robot will also detect the obstacle and notifies the user to avoid the obstacle.

IJIRSET © 2020 DOI:10.15680/IJIRSET.2020.0911023 10351

International Journal of Innovative Research in Science, Engineering and Technology (IJIRSET)

| e-ISSN: 2319-8753, p-ISSN: 2320-6710| www.ijirset.com | Impact Factor: 7.512|

||Volume 9, Issue 11, November 2020||

Controlling of machineries using speech recognition through the conversion of speech to text was not possible
earlier. This technology is used by the handicapped ones who cannot drive the vehicle on their own [4]. The use of
sensors will provide greater safety from sudden hits due to the auto braking system and slow down feature.
This paper uses an efficient recognition method of controlling a robotic vehicle through connected speech input
[5]. The speech recognizer platform uses an Android smart phone which communicates with the robot using Bluetooth
Connectivity. The robot also detects obstacles and informs the user to use a different command. This technique is
useful for applications such as assistive robots for people with disabilities or in industrial applications such as work
robots.
Android mobile phone controlled Bluetooth robot using Arduino and obstacle detection is presented [6]. The robot
controlling devices are connected to the Arduino board which transmits signals to the interfacing board L293D and
controls the motor driving system. IR sensor is used for obstacle detection.

III. SYSTEM DESIGN

The overall design of the system is explained through the block diagram shown below. It describes all the
components needed to implement a system. Figure 1 shows the block diagram of Obstacle avoiding Voice controlled
system.

IR Sensor Arduino Uno Power Supply

Gear Motor LED Buzzer

Figure 1 Block Diagram of Obstacle avoiding Voice controlled system

The Arduino Uno is a microcontroller board built on the ATmega328. It has 14 digital I/O pins (6 can be used a s
PWM outputs), 6 analog inputs, a 16 MHz ceramic resonator, a USB connection, a power jack, an ICSP header, and
can be connected to a computer with a USB cable or power it with a AC-to-DC adapter or battery to get started. The
Uno does not use FRDI USB-to -serial driver chip unlike other boards. Figure 2 below shows the pin diagram of
Arduino Uno R3.
HC-05 module is an easy to use Bluetooth SPP (Serial Port Protocol) module. It is intended for transparent
wireless serial connection setup. The HC-05 Bluetooth Module can be used in a Master or Slave configuration in
wireless communication. This serial port Bluetooth module has a fully capable Bluetooth V2.0+EDR (Enhanced Data
Rate) 3Mbps Modulation with complete 2.4GHz radio transceiver and baseband. It uses CSR Blue core 04‐External
single chip Bluetooth system with CMOS technology and Adaptive Frequency Hopping Feature. The Bluetooth module
HC-05 is a MASTER/SLAVE module.

IJIRSET © 2020 DOI:10.15680/IJIRSET.2020.0911023 10352

International Journal of Innovative Research in Science, Engineering and Technology (IJIRSET)

| e-ISSN: 2319-8753, p-ISSN: 2320-6710| www.ijirset.com | Impact Factor: 7.512|

||Volume 9, Issue 11, November 2020||

Figure 2 Pin diagram of Arduino Uno R3

BLUETOOTH MODULE - HC-05 Module

HC-05 module is an easy to use Bluetooth SPP (Serial Port Protocol) module, designed for transparent wireless
serial connection setup. The HC-05 Bluetooth Module can be used in a Master or Slave configuration, making it a great
solution for wireless communication. This serial port Bluetooth module is fully qualified Bluetooth V2.0+EDR
(Enhanced Data Rate) 3Mbps Modulation with complete 2.4GHz radio transceiver and baseband. It uses CSR Blue
core 04‐External single chip Bluetooth system with CMOS technology and with AFH (Adaptive Frequency Hopping
Feature). The Bluetooth module HC-05 is a MASTER/SLAVE module. By default the factory setting is SLAVE.
Figure 3 below shows HC-05 Bluetooth Module.

Figure 3 HC-05 Bluetooth Module

INTERFACING HC-05 WITH ARDUINO

Vcc and GND of the module is connected to the Vcc and GND of Arduino. The TXD pin is connected to RXD pin
of Arduino and RXD pin connects to TXD pin of Arduino i.e. digital pin 0 and 1. The user can use the on board LED.
But here, LED is connected to digital pin 12 externally for betterment of the process. Figure 4 below shows the
Interfacing of HC-05 Module with Arduino.

IJIRSET © 2020 DOI:10.15680/IJIRSET.2020.0911023 10353

International Journal of Innovative Research in Science, Engineering and Technology (IJIRSET)

| e-ISSN: 2319-8753, p-ISSN: 2320-6710| www.ijirset.com | Impact Factor: 7.512|

||Volume 9, Issue 11, November 2020||

Figure 4 Interfacing HC-05 Module with Arduino

SOFTWARE DESCRIPTION

 Slave default Baud rate: 9600, Data bits: 8, Stop bit: 1 Parity: No parity.
 Auto‐connect to the last device on power as default.
 Permit pairing device to connect as default.
 Auto-pairing PINCODE:”1234” as default.

IV. L298n MOTOR DRIVER

This module is based on the very popular L298n Dual H-Bridge Motor Driver Integrated Circuit. The circuit
allows to easily and individually control two motors of up to 2A each in both directions. It is ultimate for robotic
applications and appropriate for linking a microcontroller to necessitate just a couple of control lines per motor. It can
also be interfaced with simple manual switches, TTL logic gates, relays, etc. The features of L298n Dual H-Bridge
Motor Driver includes
 Motor supply: 7 to 24 VDC
 Control Logic: Standard TTL Logic Level
 Enable and Direction Control Pins
 Heatsink for IC
 Power-On LED indicator
 4 Direction LED indicators
The L298 is an integrated monolithic circuit in a 15- lead Multi Watt and PowerSO20 packages. It is a high voltage,
high current dual full-bridge driver intended for normal TTL logic levels. It drives inductive loads such as relays,
solenoids, DC and stepping motors. The inputs enable or disable the device independently of the input signals. The
emitters of the lower transistors of each bridge are coupled together and the corresponding external terminal can be
used for linking of an external sensing resistor. An additional supply input is provided so that the logic works at a lower
voltage.

V.DC GEAR MOTORS

A DC motor is a class of rotary electrical machines that converts direct current electrical energy into mechanical
energy. The most common type rely on the forces produced by magnetic fields. All types of DC motors have either
electromechanical or electronic mechanism, to periodically change the direction of current flow of the motor. DC

IJIRSET © 2020 DOI:10.15680/IJIRSET.2020.0911023 10354

International Journal of Innovative Research in Science, Engineering and Technology (IJIRSET)

| e-ISSN: 2319-8753, p-ISSN: 2320-6710| www.ijirset.com | Impact Factor: 7.512|

||Volume 9, Issue 11, November 2020||

motors were the first type widely used. They could be powered from existing direct-current lighting power distribution
systems. A DC motor's speed can be controlled over a wide range, using either a variable supply voltage or strength of
current in its field windings. Small DC motors are used in tools, toys, and appliances. The universal motor can operate
on direct current but is a lightweight motor used for portable power tools and appliances.
A gear motor adds mechanical gears to alter the speed/torque of the motor for an application. Usually such an
addition is to reduce speed and increase torque. A DC motor without gears is useful in many applications.

VI.RESULTS AND DISCUSSION

Figure 5 below shows the hardware setup of Obstacle avoiding Voice controlled Bluetooth car using Arduino.
Through this system, only the voice of the user to control the entire vehicle movement is used. Mobile phone is used to
recognize the voice of the user and transmit the data to the Arduino board which plays a major part in the vehicle
automation through a Bluetooth module.

Figure 5 Hardware Setup

VII.CONCLUSION

In this paper an obstacle avoiding voice controlled Bluetooth car using Arduino is implemented. This works on the
voice command of the person whose voice is been observed and transferred by a mobile through Bluetooth connection.
The vehicle automatically stops while the obstacle is detected and again it function as per the command given.

REFERENCES

[1] Abdul Naim Khan, KanuPriya and Siddhartha Kumar (2018), “Implementation of Voice-Controlled Robotic
Vehicle with Automatic Braking and Obstacle Avoidance”, International Journal of Jaipur National University,
Vol. 7 (Special Issue), pp-103-106.
[2]EsraYılmaz, Sibel T. Ozyer (2019), “Remote and Autonomous Controlled Robotic Car based on Arduino with Real
Time Obstacle Detection and Avoidance”, Universal Journal of Engineering Science 7(1): 1-7.
[3] P.NarendraIlayaPallavan, S.Harish, C.Dhachinamoorthi (2019),” Voice Controlled Robot With Real Time Barrier
Detection And Averting”, International Research Journal Of Engineering And Technology (IRJET), Volume: 06
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[4] Sourabh Marne, DrishtiBomble , GayatriDeshpande , Jay Kharat, MadhuriPote(2020) , “Human Voice Controlled
Robot Embedded with Real Time Obstacle Detection and Avoidance”, International Journal of Engineering
Research & Technology (IJERT), Special Issue - 2020

IJIRSET © 2020 DOI:10.15680/IJIRSET.2020.0911023 10355

International Journal of Innovative Research in Science, Engineering and Technology (IJIRSET)

| e-ISSN: 2319-8753, p-ISSN: 2320-6710| www.ijirset.com | Impact Factor: 7.512|

||Volume 9, Issue 11, November 2020||

[5] Yasir Ali Memon, ImaaduddinMotan, Muhammad Ali Akbar, SarmadHameed, MoezUlHasan (2016), “Speech
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[6] Ashima, Rajan Kumar, T. Nikhil, Paramdeep Singh (2015),”Obstacle Avoidance and Android Mobile Phone
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[7] P R Bhole, N L Lokhande, Manoj L Patel, V D Ratho, P R Mahajan (2017),” Voice Command Based Robotic
Vehicle Control”, International Journal for Research in Applied Science & Engineering Technology (IJRASET),
Volume 5 Issue XI November 2017.

IJIRSET © 2020 DOI:10.15680/IJIRSET.2020.0911023 10356