IRJET- IoT based Motion Control System of a Robotic car
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This document describes an IoT-based motion control system for a robotic car. The system uses an Arduino NodeMCU as the central control unit connected to a WiFi module for wireless control. It also includes IR obstacle sensors to detect and avoid obstacles. The user can control the car's movement and monitor its location using a mobile application. The application sends commands to a cloud service which relays them to the Arduino. The Arduino controls the car's motors based on the commands and sensor readings, enabling wireless remote control and obstacle avoidance. The overall system allows efficient wireless control of the robotic car's motion.
![International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 05 Issue: 03 | Mar-2018 www.irjet.net p-ISSN: 2395-0072
© 2018, IRJET | Impact Factor value: 6.171 | ISO 9001:2008 Certified Journal | Page 3073
IoT BASED MOTION CONTROL SYSTEM OF A ROBOTIC CAR
D. Kalaiarasi1, Pavithra .S2, Pratheeba .S3, Priyaadharshini .R.L4
1Assistant Professor, Department of Electronics and Communication Engineering, Panimalar Institute of Technology,
Tamil Nadu, India.
2,3,4 UG Scholar, Department of Electronics and Communication Engineering, Panimalar Institute of Technology,
Tamil Nadu, India.
-----------------------------------------------------------------------------***-------------------------------------------------------------------------
ABSTRACT - In this paper, we presents compact portable
robot with Arduino NodeMCU as central driving functional
unit with novel features of wireless control using Wifi module
with the activation and deactivation of obstacle detection in
the path of the robot .The main contribution of the paper is
that it leverages the efficiency of robot’s motion controlling
system .These innovative technologies have potentials to build
a board less communication society a symbolic society
between humans and robots. The GPS system is incorporated,
hence the client can trace the car. Commands and data are
stored in cloud services which delivers to device when it is
ready to receive. The system has IR obstacle sensors for
avoiding obstacles coming in its path. We present the
architecture and design of arduino communication and how
to control the car by means of commands and application.
Keywords: Arduino NodeMCU, Motor driver, IR obstacle
sensors, IoT.
1. INTRODUCTION
Arduino is designed as an open-source electronics
prototyping platform providing schematics and flexible
development kits for enthusiastic users who intend to
produce interactive objects or environments. Arduino can be
used to sense surroundings by utilising various transducers
to read and interpret inputs in order to make responses for
example through the controlling of motors or transferring of
data. In today’s world there is a significant development in
the field of robotic control. Mobile robotic vehicles are light,
small and portable enough to be carried by an individual[5].
Our design serves as a solution to demonstrate how the
control of the dc geared motors in coordination of the
signals obtained from Wi-Fi module in conjunction of
Arduino is used to achieve high degree of precise path
control from the user side to achieve standard operations
like moving at a particular target location, collecting data
and avoiding any obstacle to prevent collision .In existing
literature many works have been done on the
implementation and analysis of the robotics for various
aspects like disaster management, working in nuclear areas,
photography and military application. Cloud robotics uses
computing resources to enable great memory,
computational power and collective learning for robotics
applications. When computational or storage demands
exceed the on-board capacity of a robot, they are offloaded
to the cloud, here the massive resources of a data centre can
supplement the limited local resources of robots .Cloud
robotics also represents a significant advance for robot
learning[3]. The collision and detection protocol has been
incorporated and well executed by using infrared sensors
which prevents collision and sends the signal to the user
mobile of obstacle detection. The robot direction can be
changed by using the buttons available in the application
.The robot is equipped with a pick and drop arm which can
pick and drop up to 60 grams of weight. Our user end
equipment mobile is equipped with an application control
the path of the robotic car achieve its target location
avoiding obstacles.
2. OVERVIEW
A smart mobile device and an embedded system side are
involved in this project. The overall framework should
contain a user, an Android smartphone field, an Arduino-
based car with assistance of the Arduino integrated
development environment (IDE) in the PC, sketches are
compiled and uploaded into the Arduino board via a USB
transmission line .The car and mobile phone are linked via
wireless communication. By touching or pressing on the
screen of an Android phone, a manipulator can send
commands to the Arduino microcontroller on the car
through wi-fi and observe the corresponding executions
accomplished by actuators, for example motors[6]. Two gear
motors, two wheels, a battery holder, batteries, a switch and
a baseboard compose the chassis of the car. Uncomplicated
operations and compact user interfaces are preferred.
Initially the commands include: move forward, move
backward, turn left, turn right, rotate left, rotate right,
activate obstacle detection, and deactivate obstacle
detection. These commands can be given via user
application. It is possible to locate the car continuously in
the UI and get the feedback and data regarding to the
car[2].There is a provision of feedback signals to the
controlling device like mobile/PDA in which the graphical
control interface is installed thus avoiding collision and
changing of path is very easy in our design.](https://image.slidesharecdn.com/irjet-v5i3706-190201111432/85/IRJET-IoT-based-Motion-Control-System-of-a-Robotic-car-1-320.jpg)
![International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 05 Issue: 03 | Mar-2018 www.irjet.net p-ISSN: 2395-0072
© 2018, IRJET | Impact Factor value: 6.171 | ISO 9001:2008 Certified Journal | Page 3075
Fig 2.Workflow
4. COMPONENTS
Fig 4.Hardware module
4.1 NodeMCU
The NodeMCU is an open source software and hardware
development environment. The ESP8266 arduino
compatible module is a low-cost WiFi chip with full
TCP/IP capability, and the amazing (IoT) thing is that this
little board has a MCU gives the possibility to control I/O
digital pins via simple like programming language.
4.2 Motor driver-L293D
The L293D is a 16-pin Motor Driver IC which can control a
two sets of 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.
5. RESULT
Two modes have been designed in this paper. The first mode
is wireless control and the second mode is for obstacle
avoidance. When the car is operated in mode I, the only
method for controlling the car is by operation from the
smartphone via Wifi. The fundamental functions are
forward, left, right and reverse movements as well as a stop,
pick and drop actions based on the touching of arrows in the
user interface. In mode 2, the car keeps going forward until
an obstacle appears within a defined threshold distance.
After exploring the barrier, it will stop and waits for the
command from the user.
6. CONCLUSION AND FUTURE SCOPE
In this paper an efficient control system of a robotic car is
incorporated with IoT. The cloud service helps the system to
reduce memory load. Stored messages are automatically
removed after a certain amount of time. The performance
results prove that if the incorporation is efficient. The
wireless range is too small. It can be efficient if GPRS, Zigbee
module is used for wireless medium. Including object
detection method is one of the main future works that needs
to be implemented.
7. REFERENCES
[1] Maliha Rahman Mishi, Rabeya Bibi, Tanveer Ahsan
“Multiple Motion Control System of Robotic Car Based on
IoT to Produce Cloud Service”, Bangladesh.
[2] M. S. Bin Bahrudin, R. A. Kassim, and N. Buniyamin,
“Development of Fire alarm system using Raspberry Pi and
Arduino Uno,” 2013 Int.Conf. Electr. Electron. Syst. Eng.
ICEESE 2013, pp. 43–48, 2013.
[3] Fenfen Chen1,2, Lujia Wang2, Jue Lu1, Fuji Ren3, Yang
Wang2, Xi Zhang2, Cheng-Zhong Xu2,4 “A Smart Cloud
Robotic System based on Cloud Computing Services”
1Wuhan University of Technology, Wuhan, P.R. China
2Shenzhen Institutes of Advanced Technology, Chinese
Academy of Sciences, Shenzhen, P.R. China
[4] “How to Change the Direction of Rotation of a DC
Motor? |Study Electrical | Online Electrical Engineering
Study Site.” [Online]. Available:](https://image.slidesharecdn.com/irjet-v5i3706-190201111432/85/IRJET-IoT-based-Motion-Control-System-of-a-Robotic-car-3-320.jpg)
![International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 05 Issue: 03 | Mar-2018 www.irjet.net p-ISSN: 2395-0072
© 2018, IRJET | Impact Factor value: 6.171 | ISO 9001:2008 Certified Journal | Page 3076
http://www.studyelectrical.com/2015/07/how-to-
changedirection-of-dc-motor.html.
[5] Zhao Wang, Eng Gee Lim, Weiwei Wang, Mark Leach,
Ka Lok Man “Design of An Arduino-based Smart Car” Xi'an
Jiaotong-Liverpool University, Suzhou, China.
[6] Supantha Mandal, Suraj Kumar Saw, Shilpi Maji,Vivek
Das,Sravanth kumar Ramakuri , Sanjay kumar” Low Cost
Arduino WIFI Wifi integrated path following with wireless
GUI remote control”, Birla institute of Technology Mesra
ranchi Jharkhand India.
[7] A. Abdullah, O. Sidek, N. A. Amran, U. N. Za'bah, F.
Nikmat, H. Jafar and M. A. Hadi, "Development of Wireless
Sensor Network for Monitoring," 2012, International
Conference on Advanced Computer Science and Information
Systems.
[8] A. R. Krishna, G. S. Bala, A. Sastry, B. B. Sarma and G. S.
Alia, "Design And Implementation Of A Robotic Arm Based
On Haptic Technology," International Journal of Engineering
Research and Applications (IJERA), vol. 2, no. 3, pp. 3098-
3103, 2012.
[9] “How to Change the Direction of Rotation of a DC
Motor? | Study Electrical | Online Electrical Engineering
StudySite. ”[Online]. Available:
http://www.studyelectrical.com/2015/07/how-to-change
direction-of-dc-motor.html.
[10] “Theory of Robot Control - Google Books.” [Online].
Available:https://books.google.com.bd/books?hl=en&lr=&id
=5NnUBwAAQBAJ&oi=fnd&pg=PR12&dq=robot+control+&
ots=WRcW3pf_p&sig=hGTxIllfyxS082pmtHmmksqMvEg&re
dir_esc=y#v=onepage&q=robotcont rol&f=false.
[11] “Arduino UltraSonic Range Finder: The best interfacing
tutorial!”[Online].Available:http://diyhacking.com/arduino-
ultrasonic-range finder/.
[12] J. Sobota, R. P�sl, P. Balda, and M. Schlegel, “Raspberry
pi and arduino boards in control education,” IFAC Proc. Vol.,
vol. 10, no.PART 1, pp. 7–12, 2013.](https://image.slidesharecdn.com/irjet-v5i3706-190201111432/85/IRJET-IoT-based-Motion-Control-System-of-a-Robotic-car-4-320.jpg)
IRJET- IoT based Motion Control System of a Robotic car
- 1. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 05 Issue: 03 | Mar-2018 www.irjet.net p-ISSN: 2395-0072 © 2018, IRJET | Impact Factor value: 6.171 | ISO 9001:2008 Certified Journal | Page 3073 IoT BASED MOTION CONTROL SYSTEM OF A ROBOTIC CAR D. Kalaiarasi1, Pavithra .S2, Pratheeba .S3, Priyaadharshini .R.L4 1Assistant Professor, Department of Electronics and Communication Engineering, Panimalar Institute of Technology, Tamil Nadu, India. 2,3,4 UG Scholar, Department of Electronics and Communication Engineering, Panimalar Institute of Technology, Tamil Nadu, India. -----------------------------------------------------------------------------***------------------------------------------------------------------------- ABSTRACT - In this paper, we presents compact portable robot with Arduino NodeMCU as central driving functional unit with novel features of wireless control using Wifi module with the activation and deactivation of obstacle detection in the path of the robot .The main contribution of the paper is that it leverages the efficiency of robot’s motion controlling system .These innovative technologies have potentials to build a board less communication society a symbolic society between humans and robots. The GPS system is incorporated, hence the client can trace the car. Commands and data are stored in cloud services which delivers to device when it is ready to receive. The system has IR obstacle sensors for avoiding obstacles coming in its path. We present the architecture and design of arduino communication and how to control the car by means of commands and application. Keywords: Arduino NodeMCU, Motor driver, IR obstacle sensors, IoT. 1. INTRODUCTION Arduino is designed as an open-source electronics prototyping platform providing schematics and flexible development kits for enthusiastic users who intend to produce interactive objects or environments. Arduino can be used to sense surroundings by utilising various transducers to read and interpret inputs in order to make responses for example through the controlling of motors or transferring of data. In today’s world there is a significant development in the field of robotic control. Mobile robotic vehicles are light, small and portable enough to be carried by an individual[5]. Our design serves as a solution to demonstrate how the control of the dc geared motors in coordination of the signals obtained from Wi-Fi module in conjunction of Arduino is used to achieve high degree of precise path control from the user side to achieve standard operations like moving at a particular target location, collecting data and avoiding any obstacle to prevent collision .In existing literature many works have been done on the implementation and analysis of the robotics for various aspects like disaster management, working in nuclear areas, photography and military application. Cloud robotics uses computing resources to enable great memory, computational power and collective learning for robotics applications. When computational or storage demands exceed the on-board capacity of a robot, they are offloaded to the cloud, here the massive resources of a data centre can supplement the limited local resources of robots .Cloud robotics also represents a significant advance for robot learning[3]. The collision and detection protocol has been incorporated and well executed by using infrared sensors which prevents collision and sends the signal to the user mobile of obstacle detection. The robot direction can be changed by using the buttons available in the application .The robot is equipped with a pick and drop arm which can pick and drop up to 60 grams of weight. Our user end equipment mobile is equipped with an application control the path of the robotic car achieve its target location avoiding obstacles. 2. OVERVIEW A smart mobile device and an embedded system side are involved in this project. The overall framework should contain a user, an Android smartphone field, an Arduino- based car with assistance of the Arduino integrated development environment (IDE) in the PC, sketches are compiled and uploaded into the Arduino board via a USB transmission line .The car and mobile phone are linked via wireless communication. By touching or pressing on the screen of an Android phone, a manipulator can send commands to the Arduino microcontroller on the car through wi-fi and observe the corresponding executions accomplished by actuators, for example motors[6]. Two gear motors, two wheels, a battery holder, batteries, a switch and a baseboard compose the chassis of the car. Uncomplicated operations and compact user interfaces are preferred. Initially the commands include: move forward, move backward, turn left, turn right, rotate left, rotate right, activate obstacle detection, and deactivate obstacle detection. These commands can be given via user application. It is possible to locate the car continuously in the UI and get the feedback and data regarding to the car[2].There is a provision of feedback signals to the controlling device like mobile/PDA in which the graphical control interface is installed thus avoiding collision and changing of path is very easy in our design.
- 2. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 05 Issue: 03 | Mar-2018 www.irjet.net p-ISSN: 2395-0072 © 2018, IRJET | Impact Factor value: 6.171 | ISO 9001:2008 Certified Journal | Page 3074 3. SYSTEM CONFIGURATION Fig 1.System Configuration 3.1 Sending command The mode of sending command to the car is by manually clicking buttons visible in the user interface which is the android application developed in the android studio with buttons controlling movements like move forward and backward, turn right and left, stop,pick and drop. 3.2 Checks for command validation On successful decoding the dedicated event handlers take care of the rest of the task. But on unsuccessful decoding the client is requested to generate any command from the set of valid commands. This request is in actual a message displayed on the user interface of the application. 3.3 Stores commands in a cloud service Queue provides a well-defined and flexible service to this system. As both car information and commands are needed to be transferred at the desired places or devices and at the same time, so two queues were used- one for data and another for command. The arduino in the car listens to the Command Queue and it sends data to the Data Queue. On the other hand the android application in the controller end listens to the Data Queue and it sends command to the Command Queue. 3.4 Processor (Mobile) collects the command and passes to the Arduino There are basically four modes of command signals that the Arduino receives from the processor. These are: 1. Move according to the command signals sent by the user, 2.pick and drop any object, 3.To send GPS sensor values acquired from the GPS, 4.To send the data received from the obstacle detector. 3.5 Arduino takes action according to the command Based on the command received Arduino takes appropriate action. For example: acquiring GPS sensor value, acquiring obstacle sensor reading and changing the car’s direction of motion or state.The GPS sensor continuously pings for getting the actual location of the car. Arduino also pings the IR obstacle sensor for distance of obstacle before the car. Based on the commands, Arduino changes the direction and speed of the motors using the motor controllers. 3.6 Updates GPS position of the car Whenever the Robotic Car is commanded to change its position, Arduino polls the GPS sensor to get the updated GPS position and then when it is commanded to send the GPS position then this location is sent to the Data queue of the cloud service bus. This data is later received by the android application which updates the UI accordingly. 3.7 Surveillance camera provides visual track of the robotic car The robotic car here is equipped with a surveillance camera which enables the user to be aware of the motion of the car and the environment in which the car is being operated. Left motors Right motors Outcome Forward Forward Forward Forward Static Left Static Forward Right Backward Backward Backward Table 1.Different steering methods Fig 3. Android application’s user interface
- 3. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 05 Issue: 03 | Mar-2018 www.irjet.net p-ISSN: 2395-0072 © 2018, IRJET | Impact Factor value: 6.171 | ISO 9001:2008 Certified Journal | Page 3075 Fig 2.Workflow 4. COMPONENTS Fig 4.Hardware module 4.1 NodeMCU The NodeMCU is an open source software and hardware development environment. The ESP8266 arduino compatible module is a low-cost WiFi chip with full TCP/IP capability, and the amazing (IoT) thing is that this little board has a MCU gives the possibility to control I/O digital pins via simple like programming language. 4.2 Motor driver-L293D The L293D is a 16-pin Motor Driver IC which can control a two sets of 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. 5. RESULT Two modes have been designed in this paper. The first mode is wireless control and the second mode is for obstacle avoidance. When the car is operated in mode I, the only method for controlling the car is by operation from the smartphone via Wifi. The fundamental functions are forward, left, right and reverse movements as well as a stop, pick and drop actions based on the touching of arrows in the user interface. In mode 2, the car keeps going forward until an obstacle appears within a defined threshold distance. After exploring the barrier, it will stop and waits for the command from the user. 6. CONCLUSION AND FUTURE SCOPE In this paper an efficient control system of a robotic car is incorporated with IoT. The cloud service helps the system to reduce memory load. Stored messages are automatically removed after a certain amount of time. The performance results prove that if the incorporation is efficient. The wireless range is too small. It can be efficient if GPRS, Zigbee module is used for wireless medium. Including object detection method is one of the main future works that needs to be implemented. 7. REFERENCES [1] Maliha Rahman Mishi, Rabeya Bibi, Tanveer Ahsan “Multiple Motion Control System of Robotic Car Based on IoT to Produce Cloud Service”, Bangladesh. [2] M. S. Bin Bahrudin, R. A. Kassim, and N. Buniyamin, “Development of Fire alarm system using Raspberry Pi and Arduino Uno,” 2013 Int.Conf. Electr. Electron. Syst. Eng. ICEESE 2013, pp. 43–48, 2013. [3] Fenfen Chen1,2, Lujia Wang2, Jue Lu1, Fuji Ren3, Yang Wang2, Xi Zhang2, Cheng-Zhong Xu2,4 “A Smart Cloud Robotic System based on Cloud Computing Services” 1Wuhan University of Technology, Wuhan, P.R. China 2Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, P.R. China [4] “How to Change the Direction of Rotation of a DC Motor? |Study Electrical | Online Electrical Engineering Study Site.” [Online]. Available:
- 4. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 05 Issue: 03 | Mar-2018 www.irjet.net p-ISSN: 2395-0072 © 2018, IRJET | Impact Factor value: 6.171 | ISO 9001:2008 Certified Journal | Page 3076 http://www.studyelectrical.com/2015/07/how-to- changedirection-of-dc-motor.html. [5] Zhao Wang, Eng Gee Lim, Weiwei Wang, Mark Leach, Ka Lok Man “Design of An Arduino-based Smart Car” Xi'an Jiaotong-Liverpool University, Suzhou, China. [6] Supantha Mandal, Suraj Kumar Saw, Shilpi Maji,Vivek Das,Sravanth kumar Ramakuri , Sanjay kumar” Low Cost Arduino WIFI Wifi integrated path following with wireless GUI remote control”, Birla institute of Technology Mesra ranchi Jharkhand India. [7] A. Abdullah, O. Sidek, N. A. Amran, U. N. Za'bah, F. Nikmat, H. Jafar and M. A. Hadi, "Development of Wireless Sensor Network for Monitoring," 2012, International Conference on Advanced Computer Science and Information Systems. [8] A. R. Krishna, G. S. Bala, A. Sastry, B. B. Sarma and G. S. Alia, "Design And Implementation Of A Robotic Arm Based On Haptic Technology," International Journal of Engineering Research and Applications (IJERA), vol. 2, no. 3, pp. 3098- 3103, 2012. [9] “How to Change the Direction of Rotation of a DC Motor? | Study Electrical | Online Electrical Engineering StudySite. ”[Online]. Available: http://www.studyelectrical.com/2015/07/how-to-change direction-of-dc-motor.html. [10] “Theory of Robot Control - Google Books.” [Online]. Available:https://books.google.com.bd/books?hl=en&lr=&id =5NnUBwAAQBAJ&oi=fnd&pg=PR12&dq=robot+control+& ots=WRcW3pf_p&sig=hGTxIllfyxS082pmtHmmksqMvEg&re dir_esc=y#v=onepage&q=robotcont rol&f=false. [11] “Arduino UltraSonic Range Finder: The best interfacing tutorial!”[Online].Available:http://diyhacking.com/arduino- ultrasonic-range finder/. [12] J. Sobota, R. P�sl, P. Balda, and M. Schlegel, “Raspberry pi and arduino boards in control education,” IFAC Proc. Vol., vol. 10, no.PART 1, pp. 7–12, 2013.