WACHEMO UNIVERSITY
COLLEGE OF ENGINEERING AND TECHNOLOGY
DEPARTMENT OF ELECTROMECHANICAL ENGINEERING
Proposal for Thesis project
Title: Remote controlled Robotic car via Dual Tone Multi-Frequency
technology
By
1. Yohanis Asefa -------------- 1307779
2. Wendmnew Smegnew --- 12D0762
3. Yoftahe tsehay ------------- 12D0862
February, 2025
[Document title]
Abstract
This project focuses on the design of a remote-controlled robotic car using Dual Tone Multi-
Frequency (DTMF) technology. The primary objective is to develop a robotic vehicle that can be
controlled wirelessly via a mobile phone, allowing users to operate it from any location with
mobile network access. The system consists of a DTMF decoder, a PIC16F877A
microcontroller, and DC motors driven by an H-Bridge motor driver, enabling movement in
multiple directions such as forward, backward, left, right, and stop. The control signals are
transmitted through a phone call, where pressing keys generates unique DTMF tones that are
decoded and processed to execute the corresponding movements.
Due to hardware limitations, the project was simulated and tested using PROTEUS software,
ensuring that the system functions as expected before real-world implementation. The use of
mobile phones as controllers eliminates the need for dedicated RF modules, making it a cost-
effective and scalable solution. However, the system has some limitations, including signal
dependency, lack of real-time feedback, and security vulnerabilities. Future enhancements, such
as obstacle detection using IR sensors, password protection, and camera integration, can improve
functionality and security.
This project has significant applications in automation, security, and hazardous environments,
where remote operation can reduce risks for humans. Additionally, it serves as an educational
and research tool in the fields of robotics, embedded systems, and wireless communication,
contributing to advancements in remote-controlled robotic systems.
II
[Document title]
TABLE OF CONTENTS
Abstract ......................................................................................................................................... II
ABBREVIATIONS AND ACRONYMS .................................................................................... V
INTRODUCTION ......................................................................................................................... 1
1.1-BACKGROUND: .................................................................................................................... 1
1.2-PROBLEM STATEMENT ................................................................................................... 2
1.3-OBJECTIVE: ........................................................................................................................ 2
General objective .................................................................................................................... 2
Specific Objectives ................................................................................................................. 2
1.4-SIGINIFICANCE ................................................................................................................. 2
1.5 SCOPE OF PROJECT .......................................................................................................... 3
1.6 Limitations of the Project ...................................................................................................... 3
2. LITERATURE REVIEW......................................................................................................... 5
Overview of DTMF Technology ................................................................................................ 5
Mobile Phone Controlled Robotics ............................................................................................. 5
Microcontroller-Based Robotic Systems .................................................................................... 5
Motor Control Using H-Bridge Circuits ..................................................................................... 5
Applications of Remote-Controlled Robotic Systems ................................................................ 6
Limitations of Existing Systems ................................................................................................. 6
3.METHODOLOGY..................................................................................................................... 7
3.1 Workflow for the Proposed System ...................................................................................... 7
3.1 System Flowchart and Working Process .............................................................................. 8
4.OUR PROJECT PLAN ............................................................................................................. 9
4.1 Timelines ............................................................................................................................... 9
4.2 Resources ............................................................................................................................ 10
III
[Document title]
5. EXPECTED OUTCOMES AND IMPACT .......................................................................... 11
5.1 Expected Outcomes and Impact of the Project ................................................................... 11
5.1.1 Expected Outcomes: .................................................................................................... 11
1. Successful Control of the Robotic Car .............................................................................. 11
2. Reliable Remote Operation ............................................................................................... 11
3. Efficient Simulation and Implementation ......................................................................... 11
4. Scalability and Expandability ........................................................................................... 11
5.2 Impact of the Project: .......................................................................................................... 12
Conclusion.................................................................................................................................... 13
References .................................................................................................................................... 14
IV
[Document title]
ABBREVIATIONS AND ACRONYMS
DTMF – Dual Tone Multi-Frequency
RF – Radio Frequency
RCV – Remote-Controlled Vehicle
PIC – Peripheral Interface Controller
MCU – Microcontroller Unit
LCD – Liquid Crystal Display
PWM – Pulse Width Modulation
EEPROM – Electrically Erasable Programmable Read-Only Memory
USART – Universal Synchronous/Asynchronous Receiver/Transmitter
SPI – Serial Peripheral Interface
I²C – Inter-Integrated Circuit
MCLR – Master Clear Reset
MOSFET – Metal-Oxide Semiconductor Field-Effect Transistor
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INTRODUCTION
1.1-BACKGROUND:
A robot is a re-programmable multifunctional manipulator designed to move material,
parts, tools, or specialized devices through variable programmed motions for the performance of
a variety of tasks. A remote controlled device is defined as any mobile device that is controlled
by a means that does not restrict its motion with an origin external to the device. This project
includes a robotic car consisting of a cell phone, DTMF decoder and microcontroller. The
transmitter is a handheld mobile phone.
The DTMF tone for each key is sum of two sinusoidal waves of frequencies as given in
following table. Thus each key has unique frequency pair and thus unique DTMF tone. For
example, DTMF tone for key 6 is sum of two sinusoidal waves of frequency 1477 Hz and
770Hz.The extra keys A, B, C and D are not present on cell phone. They are actually specially
used for special purposes. For example, public payphones that accept credit cards use these
additional codes to send the information from the magnetic strip.
CELLPHONE CONTROLLED ROBOT is a machine that can be controlled with a mobile. In
this project, the robot is controlled by a mobile phone that makes a call to the cell phone attached
to the robot. In the course of a call, if any button is pressed, a tone corresponding to the button
pressed is heard at the other end of the call.
The knowledge and skills acquired in almost all earlier course work play a great role to carry out
this project such as Applied Electronics II, introduction to Control Engineering, Electrical
Machine II, Microprocessor and Interfacing, Embedded System, Robotics and so on play major
role in the problem formulation and problem solving of our project design.
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1.2-PROBLEM STATEMENT
Our project is a remote controlled robotic car with cellphone using the DTMF technology. We
have chosen this project because it has a lot of application in home like monitoring small robotic
devices from different location in our absence.
To perform this task we have used the DTMF technology which uses the mobile network. It works
all over the world where there is a network access regardless of the distance between the
transmitting cellphone and the controlling cellphone.
1.3-OBJECTIVE:
General objective
The general objective of a remote-controlled robotic car via DTMF (Dual-Tone Multi-Frequency)
is to design and implement a robotic vehicle that can be controlled wirelessly using DTMF signals
transmitted through a mobile or cellular network.
Specific Objectives
Design a robotic car that can be controlled remotely using a mobile phone.
Utilize Dual Tone Multi-Frequency (DTMF) technology for wireless communication.
Implement a system where DTMF tones are generated by a remote mobile phone and
transmitted to the robotic car via a call or audio signal.
Design a motor driver circuit control the movement of the robotic car's motors based on
the decoded DTMF signals.
1.4-SIGINIFICANCE
Remote control vehicles have various scientific uses including hazardous environments.
Remote control vehicles are used in law enforcement and military engagements for some of the
same reasons.
Exposure to hazards is mitigated to the person who operates the vehicle from a location of relative
safety.
Remote controlled vehicles are used by many police department bomb-squads to defuse or
detonate explosives.
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1.5 SCOPE OF PROJECT
The scope of this project focuses on designing and implementing a remote-controlled robotic car
using Dual Tone Multi-Frequency (DTMF) technology. The system is designed to allow users to
control the robot wirelessly via a mobile phone, utilizing DTMF signals transmitted over a cellular
network. The robotic car incorporates a DTMF decoder to receive and interpret signals, a
PIC16F877A microcontroller to process commands, and DC motors controlled through an H-
Bridge motor driver to execute movements such as forward, backward, left, right, and stop. Due
to hardware constraints, the project was primarily tested using PROTEUS simulation, and
programming was done using MikroC for PIC.
While the system offers the advantage of remote operation over large distances where mobile
networks are available, it also has some limitations. The lack of hardware components prevented
real-world testing, and the system is dependent on network signals, which may cause delays or
interruptions. Additionally, there is no real-time feedback mechanism for the user, and security
concerns arise as any individual with access to the controlling phone number could potentially
operate the robot.
This project could not include IR sensors for obstacle detection, password protection for secure
access, and camera integration for real-time monitoring. The project has significant practical
applications in home automation, surveillance, and hazardous environments such as bomb disposal
and industrial inspections. Additionally, it serves as an educational tool for students and
researchers in the fields of robotics, embedded systems, and wireless communication. The use of
mobile phones as controllers makes this system a cost-effective alternative to traditional RF-
controlled robots while maintaining a robust and scalable design.
And our projects work only as forward, backward, left, right, and stop direction of car movments.
1.6 Limitations of the Project
While the Remote-Controlled Robotic Car via DTMF Technology offers several advantages, it
also has some limitations that need to be addressed for future improvements.
1. Hardware Constraints
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The project was not fully implemented with hardware due to a lack of components in the lab.
The system was tested only in PROTEUS simulation, meaning real-world hardware performance
could not be verified.
2. Signal Dependency and Delay
The system relies on DTMF tones transmitted via a mobile network, which may experience delays
or signal loss in areas with weak network coverage.
If the mobile signal is interrupted or distorted, the robot may not respond correctly.
3. Lack of Real-Time Feedback
The robot does not send feedback to the user, meaning the operator cannot confirm if a command
was received or executed correctly.
Without a camera or sensors, the user cannot visually track the robot’s movements remotely.
4. Limited Control Options
The control system is basic, with only a few movement options (forward, backward, left, right,
stop).
More complex operations, such as speed control, obstacle avoidance, or autonomous navigation,
are not included.
5. Power Consumption
The robot requires a continuous power supply, and battery life could be a limitation for extended
operation.
If the mobile phone attached to the robot runs out of battery, control will be lost.
6. Security Risks
The system does not have password protection, meaning anyone with access to the mobile number
could control the robot.
Unauthorized control could be a security concern, especially if the robot is used in sensitive
environments.
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2. LITERATURE REVIEW
Overview of DTMF Technology
Dual Tone Multi-Frequency (DTMF) is a signal processing method used in telecommunication
systems where pressing a key on a telephone generates a unique combination of two frequencies.
DTMF technology is widely used in automated systems such as interactive voice response (IVR)
systems and remote control applications. According to studies, DTMF-based robotic control is an
effective low-cost method for long-distance control, as it relies on the existing cellular network
infrastructure rather than short-range RF modules.
Mobile Phone Controlled Robotics
Several research works have demonstrated the use of mobile phones as controllers for robotic
systems. In the study by P. Raghavendra Prasad and K. Susram Rahul, a cellphone-operated land
rover was developed using DTMF signals to control movement remotely. Their research
highlighted the advantages of mobile-based control, such as extended range, ease of operation, and
reduced interference compared to traditional RF controllers.
Microcontroller-Based Robotic Systems
Microcontrollers such as the PIC16F877A play a crucial role in embedded robotic applications.
Research in microcontroller-based automation has shown that PIC microcontrollers offer a balance
between processing power, memory, and ease of interfacing with peripheral devices. The Harvard
architecture used in PIC microcontrollers enables fast execution by separating data and instruction
memory, improving real-time performance.
Motor Control Using H-Bridge Circuits
For robotic movement, H-Bridge motor drivers are commonly used to control DC motors.
Literature on motor control mechanisms suggests that H-Bridge circuits enable bidirectional
movement (forward and reverse) and are essential for efficient power management in robotic
applications. Previous implementations of DTMF-controlled robots have successfully used L293D
and L298 motor drivers to execute movement commands.
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Applications of Remote-Controlled Robotic Systems
Remote-controlled robots have been widely used in various applications:
Surveillance and Security: Research indicates that mobile-controlled robots can be deployed for
monitoring restricted areas, reducing human intervention in hazardous environments.
Disaster Response: In search-and-rescue operations, robots controlled via mobile networks can
navigate through dangerous terrains where direct human control is impossible.
Industrial Automation: Literature highlights the role of remote robotic vehicles in factories and
warehouses to perform repetitive or hazardous tasks without direct supervision.
Limitations of Existing Systems
While DTMF-based robotic control provides a simple and cost-effective solution, previous studies
have pointed out several challenges:
Signal Dependency: The system performance is affected by mobile network availability and signal
strength.
Lack of Real-Time Feedback: Most DTMF-controlled robots do not provide visual confirmation
to the operator, making remote navigation difficult.
Security Concerns: Without encryption or password protection, anyone with the control number
can operate the robot, leading to security risks.
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3.METHODOLOGY
3.1 Workflow for the Proposed System
Step 1: System Initialization
Power on the robotic car system.
The PIC16F877A microcontroller initializes and prepares to receive commands.
Step 2: Establishing Communication
The user dials the mobile phone attached to the robotic car.
The call is automatically received, allowing the system to listen for DTMF signals.
Step 3: Command Transmission
The user presses a key on their mobile phone.
The pressed key generates a DTMF tone, which is transmitted over the cellular
network.
Step 4: DTMF Signal Reception and Decoding
The DTMF decoder (MC145436AP) in the robotic car receives the tone.
It converts the analog DTMF tone into a digital signal corresponding to the key
pressed.
Step 5: Signal Processing by Microcontroller
The PIC16F877A microcontroller processes the received signal.
It determines the appropriate movement command (e.g., forward, backward, left,
right, stop).
Step 6: Motor Driver Activation
The microcontroller sends signals to the H-Bridge motor driver.
The motor driver controls the DC motors, enabling movement in the specified
direction.
Step 7: Robotic Car Movement
The robotic car moves based on the command received:
Press "2" → Move Forward
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Press "8" → Move Backward
Press "4" → Turn Left
Press "6" → Turn Right
Press "5" → Stop
Step 8: Continuous Operation
The process continues as long as the user sends commands.
The robotic car follows each instruction received via the DTMF-controlled system.
Step 9: Call Termination and System Standby
The system remains operational until the call is ended or the power is turned off.
Once the call is disconnected, the robot stops and awaits further commands.
Step 10: System Limitations and Future Enhancements
Since there is no real-time feedback, the user cannot visually confirm the robot’s
position.
3.1 System Flowchart and Working Process
The system operates as follows:
1. Start the system – The robotic car is powered on and ready to receive signals.
2. User presses a key on the mobile phone – This generates a DTMF tone.
3. DTMF Decoder receives the tone – Converts it into a digital signal.
4. Microcontroller processes the signal – Determines the action based on the pressed key.
5. Motor driver executes the command – Moves the car forward, backward, left, right, or stops it.
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4.OUR PROJECT PLAN
4.1 Timelines
1. Project Scope Definition (Week 1):
- Define project scope, objectives, and deliverables.
- Identify key stakeholders and project team members.
2. Requirement Gathering (Week 1):
- Conduct surveys and interviews with potential users.
- Analyze existing systems and technologies.
3. Design Phase (Week 3-4):
- Develop detailed design plans for mechanical structure, robot, and controller.
- Create user interface designs.
4. System Integration (Week 5-7):
- Assemble and integrate major components.
- Test for functionality and performance.
6. Software Design (Week 8):
- Design software programs for control and user interface.
- Test software for accuracy and reliability.
7. Testing and Validation (Week 9):
- Conduct rigorous testing to validate system performance.
- Gather feedback for improvements.
8. Documentation (Week 10):
- Document all aspects of the project for future reference.
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4.2 Resources
Software Tools:
- PROTEUS: Used for simulation and design of the robotic car system. This software allowed
the team to model and test the system before hardware implementation.
- MikroC for PIC: A C compiler for PIC microcontrollers, used to write and compile the code
for the microcontroller (PIC16F877A) that controls the robotic car.
Hardware Components:
- Microcontroller PIC16F877A: The main processing unit for the robotic car.
- DTMF Decoder IC MC145436AP: Used to decode the DTMF tones received from the mobile
phone.
- DC Motors: Used for the movement of the robotic car.
- H-Bridge Motor Driver: Used to control the direction and speed of the DC motors.
- Cell Phones: Used as the transmitter and receiver for DTMF signals.
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5. EXPECTED OUTCOMES AND IMPACT
5.1 Expected Outcomes and Impact of the Project
5.1.1 Expected Outcomes:
1. Successful Control of the Robotic Car
The robotic car will respond correctly to DTMF signals sent via a mobile phone.
The car will move forward, backward, left, right, or stop as per the user’s input.
2. Reliable Remote Operation
The robot will be operable from any location within the mobile network’s coverage area.
The system will have minimal interference compared to traditional RF-controlled robots.
3. Efficient Simulation and Implementation
The robotic car’s functionality will be tested and verified through the PROTEUS simulation.
The system will demonstrate proper communication between the DTMF decoder, microcontroller,
and motor driver.
4. Scalability and Expandability
The project will provide a base for future enhancements such as obstacle detection using IR
sensors, camera integration, and security features like password protection.
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5.2 Impact of the Project:
1. Improved Automation and Surveillance
The robotic car can be used for home security and surveillance, enabling remote monitoring of
premises.
2. Increased Safety in Hazardous Environments
The project can be adapted for applications in hazardous environments, such as bomb disposal and
industrial inspections, where human intervention is risky.
3. Educational and Research Benefits
The project serves as a valuable learning experience for students and researchers in robotics,
embedded systems, and communication technologies.
4. Cost-Effective Solution
The use of mobile phones for control eliminates the need for dedicated RF transmitters and
receivers, reducing costs and making the technology more accessible.
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Conclusion
By developing a cell phone operated robotic car, we have overcome the drawbacks of the
conventionally used RF circuits. This RCV (remote controlled robot) includes advantages such as
robust control, minimal interference and a large working range. The car requires four commands
for motion control. The remaining twelve controls are available to serve purposes dependent on
the area of application of the RCV.
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References
-Cellphone-Operated Land Rover by P. Raghavendra PRASAD and K. Susram
Rahul
-WWW.GOOGLE.COM
-WWW.ENGINEERSGARAGE.COM
-WWW.EDABOARD.COM
-WWW.WIKIPEDIA.COM
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