A PROJECT REPORT

ON

Self Driving And Human Following Trolley

Project report submitted in partial fulfilment of requirement for the degree of

BACHELOR OF TECHNOLOGY

IN

ELECTRONICS AND COMMUNICATION ENGINEERING

Submitted By

SHAURYA RAJPUT (171037)

NIKHIL TANWAR (171078)

UNDER THE SUPERVISION OF

DR NISHANT JAIN

JAYPEE UNIVERSITY OF INFORMATION TECHNOLOGY, WAKNAGHAT

May, 2021
 DECLARATION

We declare that the major project "Self Driving And Human Following Trolley"
submitted at Jaypee University of Information Technology, Waknaghat, India is a
genuine record of our work done under the oversight of Dr. Nishant Jain. We have not
presented this work elsewhere for the other degree or certificate.

Shaurya Rajput Nikhil Tanwar

171037 171078

This is to certify that the above statement made by the candidates is correct to the simplest of
my knowledge.

Dr. Nishant Jain

(Project Guide)
Date: May,2021

Dr. Rajiv Kumar

(H.O.D ECE )
 ACKNOWLEDGEMENT

We are hereby grateful to recognize Dr Nishant Jain for his significant direction in the course of
this undertaking work.
We extend our earnest gratitude to Mr. Abhishek Rai sir and Mr. Tiwari sir who consistently
helped us for venture and without his assistance, this task can not be completed.
We are additionally appreciative to other college personnel of the JUIT who co-worked with us in
regards to certain issues. And furthermore grateful of the ECE branch of JUIT for giving us
fortitude, direction and gear for going before our venture work.

Shaurya Rajput Nikhil Tanwar

(171037) (171078)
 TABLE OF CONTENTS

CAPTIONS PAGE NO.

Abstract 6
List of figure 7
List of table 8

CHAPTER-1: Introduction to Self Driving And Human Following Trolley

[Link] 9
1.2 Objectives 9
1.3 Applications 9
1.4Literature Review 12

CHAPTER-2: Proposed Design

2.1 Design 13
2.2 Using App 14
2.3 Components 15
. 2.3.1 Arduino 16
. 2.3.2 Motor Driver 16
. 2.3.3 Ultrasonic sensor 17
. 2.3.4 IR Sensor 18
. 2.3.5 Working Of PIR Sensor 19
2.4 Challenges 19
2.5 Solution to work challenges 20
. 2.5.1 Theft Protection 21
. 2.5.2 Stairs in front 22

CHAPTER-3: Applications
3.1 Use as trolley 25
3.2 Use in Hospitals 26
3.3 Use in Army 27
3.4 Industrial automated equipment 28
3.5 As guide in museum 29

Chapter 4 Challenges And Solution

4.1 Various Challenges 31
4.2 Solutions 32
4.3 Work Done 33

Chapter 5 Features 35

Chapter 6 Conclusion 37

REFERENCES 38
PLAGIARISM REPORT
 ABSTRACT

The project is based on human following trolley using a arduino. This trolley will automatically

avoid an obstacle, and trolley follow particular person. To accomplish this target the objective of

our work is to make a robot that tracks the objective as well as move towards by keeping away

from deterrents while [Link] trolley will work with help of arduino and other sensors

which are used to identify any obstacle or person in front. Arduino is the main part and ultrasonic

sensor is the main sensor that would detect the person with respect to trolley. Remaining sensors

like ir and pir are used to detect the person’s position without any contact between the user and the

trolley.

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 LIST OF FIGURE

Fig.1.1. 3D model of trolley

Fig. .3.1 Arduino

[Link] driver

[Link] sensors.

[Link] sensors

[Link] sensors.

Fig. 3.6 Basic figure of connections.

Fig. 3.7 . 3D model of project.

Fig.3.8 Maintaining Safe Distance

Fig.3.9. Block diagram of basic processes.

Fig 3.10.-traffic and robot.

Fig 3.11.:- man following robot.

Fig 3.12 Motorized lead

Fig 3.13. App layout.

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 LIST OF TABLE

Table no.1 Literature Review

Table no.2 Work done

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 Chapter 1

Introduction to Self Driving And Human Following Trolley

[Link]

Having a robot collaborator clearly resembles a fantasy for all . A robot which will help us convey
things, go with us at shopping centers, or during a running meeting at the recreation center. A robot
which help attendants at emergency clinic, or carrying the clinical supplies during battle to harmed
fighters. In this task we will make a model of self driving and human after streetcaThis streetcar will
be valuable in different regions i.e conveying gear, directing.

Fig.1.1. 3D model of trolley.

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 1.2. Objectives-

• To make a trolley which can -

1) Follow Human.

2) Detect Obstacles.

3) Controlled using a remote.

4) Can secure it self.(from falling and theft).

5) Controlling Using Bluetooth.

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1.3. Applications –

• Industrial automated equipment carrier.

• Automated Cart.
• To guides in museum.
• Deliver medication in hospital.
• Carrying luggage.
• Assisting old and physically special people.
• Can be used in airports.
• Can be used to serve people at restaurants and malls.

1.4 Literature Review

Paper Name Author Published In Date Of Location

Conference

Human-following Quoc Khanh Dang 2012 10th 24-26 May. 2012 China
robot using infrared , Young Soo Suh Conference on
camera Regulator,
Mechanization and
Systems

A Study of W. W. Tai, B. IOP Conference 26–27 August Pulau Pinang,

Ultrasonic Sensor Ilias, S.A. Abdul Series: Materials 2019, Malaysia
Capability in Human Shukor, N. Abdul Science and
Following Robot Rahim and MA Engineering, Volu
System Markom me 705, 5th
International
Conference on Man
Machine Systems

Human Detecting Takafumi IEEE Transactions March 2004 -

and Following Matsumaru, on Industrial
Mobile Robot Using Jianzhao Cai Electronics 51(1):2
a Laser Range 29 - 237
Sensor

Table no.1 literature review

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 Chapter 2
Proposed Design
2.1. Design:-
The design of our project is vary basic it consist of some sensors with arduino and basic codes.

Fig. 3.1 Basic figure of connections.

Fig2.2 . 3D model of project.

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Fi2.3. Maintaining Safe Distance –

Fig2.4. Block diagram of basic processes.

We are using ultrasonicsensor for avoiding obstacleandto take care of a selected [Link]
ultrasonic-sensor will work perfectly within a range of 4 [Link] ultrasonic sensor is put at the
highest point of robot to precisely gauge distance between the robot and target object..We will attach
two IR sensors to robot.

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2.2. Using App

We are being trying to build an app to control our device .App will be used to operate out device using a
phone .We will be using various techniques to implement our app. App will help control the other function of
our robot.

First, in the Android App , we have utilized a few keys as forward, converse, left, right, stop, wellbeing ,
speed and on and off . When a key is squeezed, the comparing information is sent to the Bluetooth Module
from the Phone over Bluetooth Communication. In the Arduino code, the Arduino UNO gets any of this
information from the Bluetooth Module (according to the key squeezed) and plays out a straightforward
switch case activity, where each case related with fitting directions to the Motor Driver Input Pins. For model,
on the off chance that 'Forward' key is squeezed in the Android Phone, '1' is communicated. Arduino will at
that point make IN1 and IN3 as HIGH and IN2 and IN4 as LOW to accomplish a forward movement.

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 Fig2.5. App layout.

2.3. Componenets
• 1) Arduino uno
• 2) DC gear motor
• 3) Ultrasonic sensor.
• 4) Jumping wires
• 5) Motor driver
• 6) 4 wheels
• 7) Breadboard
• 8) Servo motor
• 9) Battery

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 • 10) Battery holder
• 11) IR sensors

2.3.1. Arduino Uno –

• It is a microcontroller board.
• We can use an extrapower suly and by using battery.

Fig2.6 Arduino
• To connect it with computer we csn use a USB port.

2.3.2. Motor Driver –

It is an integrated circuit chip which we will use as a motor controlling device in our project.

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 [Link]-drivr
A motor driver makes the motor move as per the given instructions or the inputs (high and low).Motor require
high current as compared to the controller. It take a less and convert it into hcs.

2.3.3. Ultrasonic Sensor –

[Link] sensors.
It helps in estimating the distance of an objective. It will radiate ultrasonic waves, and convrts the
sound that is electrical sign. Components of sensor are - the transmitter (which emanates the sound ) and the
recipient (which experiences the sound after it's headed out to and from the objective)

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[Link] Ultrasonic Sensor Principle-

The design of the system consist of two units: one is processing unit and other is controlilg [Link]
processing unit consists of various sensors .Control unit is liked with the processors Sensors helps the robot
work [Link] the sensors helps in making one decision.

2.3.4. IR Sensor –

There are two types of infrared sensors: active and passive.

1) An active Ir Sensor can both transmit and detects at same time .
2) Passive ir can only detect.

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 Fig 2.9 IR sensor

In this undertaking we will utilize PIR. Yet, it can just recognize human moving.

2.4 Working Model

Front View

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Top View

Rear View

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Bottom View

Chessy

Video :-

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2.4) Code :-

• //Ultrasonic sensor factors

• #define ENA 5

• #define IN1 7

• #define IN2 8

• #define IN3 9

• #define IN4 11

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• #define carSpeed 150

• #define carSpeed2 150

• int rightDistance = 0, leftDistance = 0;

• void forward(){analogWrite(ENA, carSpeed);

• analogWrite(ENB, carSpeed);

• digitalWrite(IN1, HIGH);

• /*digitalWrite(IN2, LOW);

• digitalWrite(IN3, LOW);*/

• digitalWrite(IN4, HIGH);

• [Link]("Forward");

• }

• analogWrite(ENA, carSpeed);

• analogWrite(ENB, carSpeed);

• digitalWrite(IN1, HIGH);

• /*digitalWrite(IN2, LOW);

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• digitalWrite(IN3, LOW);*/

• digitalWrite(IN4, HIGH);

• [Link]("Forward");

• }

• void back() {

• analogWrite(ENA, carSpeed);

• analogWrite(ENB, carSpeed);

• digitalWrite(IN1, LOW);

• digitalWrite(IN2, HIGH);

• digitalWrite(IN3, HIGH);

• digitalWrite(IN4, LOW);

• [Link]("Back");

• }

• /*void left() {

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• void right() {

• analogWrite(ENA, carSpeed2);

• analogWrite(ENB, carSpeed2);

digitalWrite(IN1, HIGH);

digitalWrite(IN2, LOW);

digitalWrite(IN3, HIGH);

digitalWrite(IN4, LOW);

[Link]("Right");

}*/

void stop() {

digitalWrite(ENA, LOW);

• digitalWrite(ENB, LOW);

• [Link]("Stop!");

• }

• void arrangement() {

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• //[Link](3);/connect servo on pin 3 to servo item/

• [Link](9600);

• pinMode(Echo, INPUT);

• pinMode(Trig, OUTPUT);

• pinMode(IN1, OUTPUT);

• pinMode(IN2, OUTPUT);

• pinMode(IN3, OUTPUT);

• pinMode(IN4, OUTPUT);

• pinMode(ENA, OUTPUT);

• pinMode(ENB, OUTPUT);

• stop();

• }

• void loop() {

• if((Distance > 20){

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• stop();

• }else if(Distance <= 20) && (Distance >= 10)) {

• forward();

• }else if(rDistance <= 10) {

• back();

• delay(100);

• }

• /* else if(rightDistance - 3 > leftDistance) {

• left();

• delay(100);

• }else if(rightDistance + 3 < leftDistance) {

• right();

• delay(100);

}*/else{ stop(); }

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 Chapter- 3
Applications

3.1 Use as trolley –

This robot can be used as a load carrying trolley in airports, malls, restaurants.

3.2 Use In Hospitals –

.2.1 Serving Robots In Hospitals

There are numerous assignments in clinics where pushing and pulling of material is required. These hard core
errands can be effortlessly completed by utilizing serving robots . Robots are likewise conveyed to supply food to
different patients dwelling in medical clinic . They are utilized in the conveyance of food and drinks, apportioning
of medications, eliminating of messy clothing, conveyance of new bed material, and transportation of ordinary and
tainted waste and so forth inside the medical clinic

3.2.2 Disinfection Robots

Such robots are generally utilized in showering germ-free combinations over enormous outside regions e.g.,
private focuses of the city. These robots are distantly controlled to keep away from perilous contact with the
sanitizer shower.

3.3 Use In Army-

3.3.1 Carrying Loads-

Robots in army can be used to carry heavy loads where movement of vehicles is restricted.
This can be very helpful in providing relief to the army.

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3.3.2 Search and Rescue Robots –
This robot can also be used for the purpose of searching and rescuing , as it can go to places where humans cant.

3.4 Industrial automated equipment carrier.

We can use our robot in automotive industry to guide or to carry row and finished goods from one place to anoter
place around the factory.

3.5 As guide in museums.

We can use our robot for guiding people in people according to their preference.

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 Chapter – 4
Challenges And Solution
4.1. Various Challenges
There are a few difficulties that are being confronted when building robots -
An individual after robot ought to be working appropriately in a jam-packed climate. It ought not be lost
during following when there is a great deal of development in front.
4.1.1 In situation like city crowd robot can get easy confused.

Fig 3.10.-traffic and robot.

4.1.2 A robot following person can increase or decrease speed

Fig3.11.:- man following robot.

4.1.3 There should be a safe distance between the robot and the man.

4.1.4 Robot should be able to detect stairs.

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 Fig 3.12- detecting stairs

4.2 Solution for our Problems

4.2.1. Theft Protection :

We can use various techniques to protect our luggage from theft some of them are as follow:--
[Link]. Motorized lead.
The motorized lid will be open only by an app or remote.

Fig3.12. Motorized lead

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 [Link] Theft alarm.
This will monitor the weight in the trolley if the weight = 0 the alarm will blow.
[Link]. App notification .
We will receive a notification in our mobile phone via app.

4.2.2 . Stairs in Front:

In such case we will be using sensors which are placed in our trolley which will are set accordingly. In
case of any stares the motor stop working and the we get a notification in our app.
4.2.3 Change in direction(reverse):
In such case we will be using sensors which are placed in our trolley which will are set accordingly. To
reverse the direction of robot we need to backwards the course of current move through the motor. It can be
done using H-bridge circuit.

Fig.3.13.:-- basic diagram .

4.2.4. Increasing Or Decreasing speed
Controlling Speed Of Motor-
Speed of the motor are often controlled by controlling the voltage to the input of motor. It are often done
using PWM signal. Pwm is a method of reducing delivery of the power.
.

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4.3 Work Done :-

Work done in 7th semester W\ Work done in 8th semester

Basics Of Project Secure from theft

Literature Review Use of app

Identified the sensors required Functions of trolley (increase or decrease speed,

dir direction change)

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 Identified Challenges Faced Motorized lead

Table no.2 Work done

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 Chapter 5
Features
5.1. Use In Hospitals-
A line devotee robot can be utilized in emergency clinic. The robot utilizes IR sensors to detect the line. An IR
sensor can be fitted close to the patient's bed to which association has been made with the robot as well. The
switch for it very well may be actuated by the stock individual in the microcontroller itself. On the off chance that
the switch is squeezed, a banner piece is set in the microcontroller, from which the robot follows the line and
reaches close to the patient and give the medication to the patient.

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5.2) Stairs Or Pit Detection :-
we have introduced two distance sensors on one or the other side of the robot to distinguish changes somewhere
far off between the robot and the ground. The sensors effectively screen changes in distance, permitting the robot
to effectively explore around drop-offs. it would take an estimation and see it as a source of perspective. At that
point as the individual moves, assuming the distance expands, you know it's a pit, assuming the distance
diminishes, you know it's a staircase(upward). It is as yet not altogether secure in light of the fact that it depends
on two static perspectives (one for every sensor), which implies the robot could in any case be stumbled by more
modest negative obstructions. Eg-potholes.

5.3) Motor – a easily replaceable motor can be used , so that if there is need to carry heavy stuff it can carry
easily.

5.4) Speed- motor speed can be controlled with the help of the app.
5.5) Switch- a switch can be placed in robot so that we can easily switch between line follower and human
follower.

5.6) Army- a robot can be made which can be used in rough terrains where vehicles can not go. It can also
carry the inventory and other luggage of the soldiers.

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 Chapter 6
Conclusion

• The project that we are working on have various features. We have implemented different sensors in this trolley
which helped in tracking and following the object. This robot will be helpful in various fields. It can be used as
trolley in airports or malls , guiding robot in museums , assistance for elderly , carrying vehicle in army ,
delivering medications in hospitals and many more.

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 References

• [1]. K. Morioka, J.-H. Lee, and H. Hashimoto, “Human-following mobile robot in a distributed intelligent sensor
network,” IEEE Trans. Ind. Electron., vol. 51, no. 1, pp. 229–237, Feb. 2004.
• [2]. Y. Matsumoto and A. Zelinsky, “Real-time face tracking system for human-robot interaction,” in 1999 IEEE
International Conference on Systems, Man, and Cybernetics, 1999. IEEE SMC ’99 Conference Proceedings, 1999,
vol. 2, pp. 830– 835 vol.2.
• [3]. T. Yoshimi, M. Nishiyama, T. Sonoura, H. Nakamoto, S. Tokura, H. Sato, F. Ozaki, N. Matsuhira, and H.
Mizoguchi, “Development of a Person Following Robot with Vision Based Target Detection,” in 2006 IEEE/RSJ
International Conference on Intelligent Robots and Systems, 2006, pp. 5286–5291.
• [4]. H. Takemura, N. Zentaro, and H. Mizoguchi, “Development of vision based person following module for
mobile robots in/out door environment,” in 2009 IEEE International Conference on Robotics and Biomimetics

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