GOVERNMENT POLYTECHNIC AMRAVATI

(An Autonomous Institute of Govt. of Maharashtra)

CERTIFICATE
THIS IS CERTIFY THAT PROJECT TITLED " HUMAN FOLLOWING
ROBOT " IS DEVELOPED AND SUBMITTED BY

MS . AASHI R. SAHU MS. MANISHA S. SARODE

MR . GAURAV P. THAKRE MS . PRITI G. RATHOD

MR . ROHAN U. SAMBARE

In Partial fulfillment For Diploma in Information Technology

Engineering During the Academic year

2022 - 2023

( GUIDED BY )

DR. P. P. KARDE

( HOD ) ( PRINCIPAL )

DR. P. P. KARDE DR . V. R. MANKAR SIR

1
 DECLARATON

I, the undersigned hereby declare that the project

report entitled " HUMAN FOLLOWING ROBOT " which is being
submitted to an autonomous institute of Govt. of
Maharashtra for the award for Diploma of engineering in
Information Technology is the result of bonafied project
work completed by me. I have work under the esteemed
guidance of DR. P. P. KARDE SIR, and fulfilment the
requirement for the submission of this project work during
the academic year 2022-2023. The result contained in the
project work has not been submitted in part or full to any
other university or institute for award of any degree or
diploma.

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 « ACKNOWLEDGEMENT »

It is a matter of great pleasure by getting the

opportunity of highlighting a fraction of knowledge. I
acquired during my technical education through this Project .

This would not have been possible without the

guidance and help of many people. This is the only page
where I have the opportunity of expressing my emotions and
gratitude from the bottom of my heart to them .

This project would not have been success without

enlightened ideas timely suggestion and keen interest of my
most respected Guide &

Head of the Department DR. P. P. KARDE SIR without

his best guidance this would have been an impossible task to
complete .

Last but not the least, I would like to express my

thankfulness to teaching and non-teaching staff, my friends
and all my well wishers.

Projectees

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 Content
1. Introduction
2. Types of Components Used
3. Code of Project
4. Block Diagram of Project
5. Where We Can Use
6. Advantages
7. Disadvantage
8. Uses
9. Future Aspects
10. Conclusion

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 INDEX
CHAPTER NO CHAPTERS NAME PAGE NO...

01 INTRODUCTION 7-8

TYPES OF COMPONENTS
USED

 Arduino Uno

 L293D Motor Driver

02 9-17
 Ultrasonic sensor

 IR sensor

03 CODE OF PROJECT 18-24

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04 BLOCK DIAGRAM OF 25-26
PROJECT

05 WHERE WE CAN USE 27-28

06 ADVANTAGES 29-30

07 DISADVANTAGES 31-32

08 USES 33-34

09 FUTURE ASPECTS 35-37

10 CONCLUSION 38-39

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 CHAPTER 1
« INTRODUCTION »

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 « INTRODUCTION »
A human following robot is an innovative robotic
system designed to follow and interact with human beings
autonomously. With the advancements in robotics and
artificial intelligence, these robots are becoming increasingly
popular in various industries, such as hospitality, retail,
healthcare, and security.

The primary objective of a human following robot is to

provide assistance to humans in various tasks by following
them and responding to their commands. These robots can
be equipped with sensors that help them detect and track
humans, and they use advanced algorithms to navigate
through various environments, including crowded places.

Human following robots are designed to enhance the

efficiency of human activities and provide a unique and
personalized experience to users. They can be programmed
to perform a wide range of tasks, including guiding
customers in a store, delivering goods and services,
providing security, and assisting with healthcare services.

Overall, human following robots represent a promising

technology that has the potential to revolutionize various
industries by providing personalized assistance

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 CHAPTER 2
TYPES OF COMPONENTS
USED

9
ARDUNO UNO

Arduino Uno is a popular open-source microcontroller

board based on the ATmega328P microcontroller. It was
released by the Italian company Arduino SRL in 2010, and
has since become a standard in the maker and DIY
communities.

The Arduino Uno board has 14 digital input/output (1/0) pins,

6 analog inputs, a 16 MHz quartz crystal, a USB connection, a
power jack, an ICSP header, and a resel button. The digital
pins can be used as both inputs and outputs and can handle
up to 40 mA of current. The analog inputs have a resolution
of 10 bits, allowing them to read values from 0 to 1023.

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 The board is programmable using the Arduino
Integrated Development Environment (IDE), which is
available for Windows. Mac. and Linux. The IDE uses a
simplified version of C++ called Arduino language, and
provides a convenient interface for uploading code to the
board and monitoring its behavior.One of the main
advantages of the Arduino Uno is its versatility. It can be
used for a wide range of applications, from controlling
simple LEDs and motors to more complex projects like
robotics and home automation. The board is also compatible
with a variety of shields, which are add-on boards that
extend its capabilities.

Overall, the Arduino Uno is a great choice for anyone looking

to get started with microcontroller programming or
prototyping electronic projects. Its open-source nature, easy-
to-use interface, and community support make it an
accessible and powerful tool for makers of all skill levels.

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L293D MOTOR DRIVER

The L2930 is a popular H-bridge motor driver

integrated circuit that is commonly used in Arduino projects
to control DC motors. The L2930 is capable of driving up to
two DC motors in either direction, with a maximum current
capacity of 600mA per channel and a maximum voltage of
36V. The L293D also has built-in protection features such as
thermal shutdown and overcurrent protection.

The L293D has 16 pins, which can be broken down into four
groups: power supply pins, input pins, output pins, and
enable pins. The power supply pins are used to supply power

To the IC and to the motors. The input pins (INI, IN2, IN3, and
IN4) are used to control the direction and speed of the
motors, and the output pins (OUTI, OUT2, OUT3, and OUT4)

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Are used to connect the motors to the IC. The enable pins
(ENI and EN2) are used to enable or disable the motor
channels.

To use the L293D with an Arduino, you can connect the input
pins to digital output pins on the Arduino, and use
digitalWrite() commands to control the motors. The enable
pins can be connected to the 5V output pin on the Arduino,
or a separate power source can be used to control the speed
of the motors using pulse-width modulation (PWM).

Overall, the L293D is a reliable and widely used motor driver

that is easy to use with Arduino projects. It can be used for a
variety of applications, such as robotics, RC vehicles, and
home automation projects.

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ULTRASONIC SENSOR

An ultrasonic Arduino sensor is a device that uses

ultrasonic sound waves to measure distance. It typically
consists of a small module that contains a transceiver. which
emits a high-frequency sound wave and then listens for the
echo that bounces back off of an object. By measuring the
time it takes for the echo to return. the sensor can determine
the distance between itself and the object.

These sensors are commonly used in robotics, automation,

and other applications where distance measurement is
important. They are often paired with microcontrollers such
as the Arduino, which can read the sensor data and use it to
control other devices or perform calculations.

Ultrasonic Arduino sensors are relatively easy to use and can

be integrated into a wide range of projects.

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 They typically operate at frequencies between 20 kHz
and 200 kHz, and can detect objects at distances ranging
from a few centimeters up to several meters away. Some
common types of ultrasonic sensors include HC-SR04. JSN-
SR04T, and US-015.

When using an ultrasonic Arduino sensor, it's important to

consider factors such as ambient noise, temperature, and
humidity, which can affect the accuracy of the
measurements. Additionally, some sensors may have limited
sensitivity or range, so it's important to choose a sensor that
is appropriate for the specific application.

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INFRA-RED SENSOR ( IR )

An infrared Arduino sensor is a device that uses infrared

radiation to detect the presence of an object or obstacle. The
sensor typically consists of an infrared emitter and an
infrared receiver that work together to emit and detect
infrared light.

When an object is in front of the sensor, it reflects the

emitted infrared light back to the receiver. The sensor then
uses this information to detect the distance. position, or
motion of the object, Infrared Arduino sensors can be used in
a variety of applications, such as robotics, security systems,
and automation.

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 There are different types of infrared Arduino sensors
available, such as infrared distance sensors, infrared motion
sensors, and infrared line sensors. These sensors vary in
their range, sensitivity, and functionality, and can be selected
based on the specific needs of the application.

Infrared Arduino sensors can be easily interfaced with

Arduino microcontrollers, making them popular among
hobbyists and DIY enthusiasts. Arduino libraries are
available for many infrared sensors, which simplify the
process of programming and using them in Arduino projects.

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 CHAPTER 3
CODE OF THE PROJECT

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//include the library code:

#include<NewPing.h>

#include<Servo.h>

#include<AFMotor.h>

#define RIGHT A2

#define LEFT A3

#define TRIGGER_PIN A1

#define ECHO_PIN A0

#define MAX_DISTANCE 200

unsigned int distance = 0;

unsigned int Right_Value = 0;

unsigned int Left_Value = 0;

NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);

AF_DCMotor Motor1(1,MOTOR12_1KHZ);

AF_DCMotor Motor2(2,MOTOR12_1KHZ);

AF_DCMotor Motor3(3,MOTOR34_1KHZ);

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AF_DCMotor Motor4(4,MOTOR34_1KHZ);

Servo myservo;

int pos=0;

void setup() {

Serial.begin(9600);

myservo.attach(10);

for(pos = 90; pos <= 180; pos += 1){

myservo.write(pos);

delay(15);

for(pos = 180; pos >= 0; pos-= 1) { myservo.write(pos);

delay(15);

for(pos = 0; pos<=90; pos += 1) { //goes from 180 degrees to

0 degrees:

myservo.write(pos); //tell servo to move according

to the value of 'pos' variable:

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 delay(15);

pinMode(RIGHT, INPUT);

pinMode(LEFT, INPUT);

void loop() {

delay(50);

distance = sonar.ping_cm();

Serial.print("distance");

Serial.println(distance);

Right_Value = digitalRead(RIGHT);

Left_Value = digitalRead(LEFT);

Serial.print("RIGHT");

Serial.println(Right_Value);

Serial.print("LEFT");

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Serial.println(Left_Value);

if((distance > 1) && (distance < 15)){

//Move Forward:

Motor1.setSpeed(130); //define motor1 speed:

Motor1.run(FORWARD); //rotate motor1 clockwise:

Motor2.setSpeed(130); //define motor2 speed:

Motor2.run(FORWARD); //rotate motor2 clockwise:

Motor3.setSpeed(130); //define motor3 speed:

Motor3.run(FORWARD); //rotate motor3 clockwise:

Motor4.setSpeed(130); //define motor4 speed:

Motor4.run(FORWARD); //rotate motor4 clockwise:

}else if((Right_Value==0) && (Left_Value==1)) {

//Turn Left

Motor1.setSpeed(150); //define motor1 speed:

Motor1.run(FORWARD); //rotate motor1 cloclwise:

Motor2.setSpeed(150); //define motor2 speed:

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 Motor2.run(FORWARD); //rotate motor2 clockwise:

Motor3.setSpeed(150); //define motor3 speed:

Motor3.run(BACKWARD); //rotate motor3 anticlockwise:

Motor4.setSpeed(150); //define motor4 speed:

Motor4.run(BACKWARD); //rotate motor4 anticlockwise:

delay(150);

}else if((Right_Value==1)&&(Left_Value==0)) {

//Turn Right

Motor1.setSpeed(150); //define motor1 speed:

Motor1.run(BACKWARD); //rotate motor1 anticlockwise:

Motor2.setSpeed(150); //define motor2 speed:

Motor2.run(BACKWARD); //rotate motor2 anticlockwise:

Motor3.setSpeed(150); //define motor3 speed:

Motor3.run(FORWARD); //rotate motor3 clockwise:

Motor4.setSpeed(150); //define motor4 speed:

Motor4.run(FORWARD); //rotate motor4 clockwise:

delay(150);

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}else if(distance > 15) {

//Stop

Motor1.setSpeed(0); //define motor1 speed:

Motor1.run(RELEASE); //stop motor1:

Motor2.setSpeed(0); //define motor2 speed:

Motor2.run(RELEASE); //stop motor2:

Motor3.setSpeed(0); //define motor3 speed:

Motor3.run(RELEASE); //stop motor3:

Motor4.setSpeed(0); //define motor4 speed:

Motor4.run(RELEASE); //stop motor4:

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 CHAPTER 4
BLOCK DIAGRAM OF
PROJECT

25
26
 CHAPTER 5
WHERE WE CAN USE
THIS PROJECT

27
 Real-life application of a human-following robot is in
the field of security and surveillance. For instance, a human-
following robot can be deployed in crowded areas such as
airports, shopping malls, and train stations to monitor and
track suspicious individuals. The robot can be programmed
to follow a specific individual or group of individuals
without raising any suspicion, allowing security personnel to
monitor their activities discreetly.

Another application of a human-following robot is in

the healthcare industry, particularly in hospitals and nursing
homes. The robot can be programmed to follow patients who
require regular monitoring, such as those with mobility
issues or who are at risk of falls. The robot can alert
healthcare providers if the patient falls or if their vital signs
change, enabling early intervention and potentially saving
lives.

Human-following robots can also be used in the

hospitality industry. For example, a robot can be deployed in
hotels to follow guests and provide them with information
on the hotel's facilities and services. The robot can also be
used to carry luggage or other items, making it easier for
guests to move around the hotel.

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 CHAPTER 6
ADVANTAGES OF THIS
PROJECT

29
ADVANTAGES »
 Increased safety: A robot that can follow humans can
provide an extra layer of safety, particularly in
environments where there may be hazards or where
humans need to be evacuated quickly. For example, a
robot that can follow firelighters into a burning building
can provide assistance and help keep them safe.

 Improved productivity: By following a human, a robot

can be used to carry supplies, equipment, or tools,
which can help to increase productivity and efficiency
in the workplace.

 Reduced labor costs: In some industries, a robot that

can follow humans can replace human workers, which
can lead to significant cost savings for businesses

 Enhanced accessibility: A robot that can follow humans

can provide assistance to people with disabilities,
helping them to navigate and access public spaces more
easily.

 Better data collection: A robot that can follow humans

can be used to collect data and monitor environments,
such as in a warehouse or manufacturing setting .

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 CHAPTER 7
DISADVANTAGES OF
PROJECT

31
DISADVANTAGES »
 Limited mobility: Depending on the design of the robot,
it may have difficulty navigating certain terrains or
obstacles, which could make it challenging to follow a
human in certain environments.

 Safety concerns: If the robot is not programmed

properly or experiences a malfunction, it could pose a
safety risk to both the human it is following and other
individuals in the vicinity.

 Privacy concerns: A robot that follows a human may

have sensors or cameras that capture personal
information or private moments, which could raise
concerns about privacy and surveillance.

 Social discomfort: Some individuals may feel

uncomfortable being followed by a robot, especially if
they are not used to interacting with technology in this
way.

 Cost: Depending on the complexity of the robot and its

intended use, it could be expensive to develop and
maintain, which could limit its widespread adoption.

32
 CHAPTER 8
USES OF THIS PROJECT

33
USES :-
 Elderly care: Human following robots can assist in
elderly care by following elderly people around and
ensuring that they do not fall or get lost.

 Shopping assistance: Human following robots can assist

shoppers by following them around and carrying their
shopping bags for them.

 Tourism: Human following robots can act as tour guides,

following tourists around and providing information
about various attractions.

 Security: Human following robots can be used for

security purposes, following suspicious individuals or
monitoring areas for potential security threats.

 Manufacturing: Human following robots can be used in

manufacturing settings to assist workers with tasks and
carry equipment.

 Education: Human following robots can be used in

educational settings to assist teachers with classroom
management and provide additional support to students.

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 CHAPTER 9

FUTURE ASPECTS

35
FUTURE ASPECTS
Human-following robots have already made
significant strides in fields like retail, hospitality, and
healthcare. However, the future of human-following robots
holds even greater potential for revolutionizing the way we
Interact with technology.

 Advanced Navigation: Human-following robots will be

equipped with more sophisticated navigation systems
that allow them to navigate through complex
environments with greater ease. They will be able to
adapt to changes in their surroundings. avoid obstacles,
and make smarter decisions based on the context

 Multimodal interaction in the future, human- following

robots will be able to interact with humans through
multiple modalities, including speech gestures, facial
expressions, and touch. This will allow them to provide
a more personalized and intuitive user experience.

 Artificial Intelligence: Human-following robots will

incorporate more advanced artificial intelligence
capabilities, allowing them to learn from their
Interactions with humans and adapt their behavior
accordingly. They will be able to understand human

36
 Emotions and respond appropriately, making them
more empathetic and engaging

 Extended Capabilities. As human-following robots

become more advanced, they will be able to perform a
wider range of tasks beyond simple navigation. They
could be used to assist with tasks like shopping cleaning
and even childcare.

 Enhanced Security: Human-following robots could be

used in security settings to detect and respond to
suspicious behavior. They could be programmed to
identify potential threats and alert security personnel or
take appropriate action

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 CHAPTER - 10

CONCLUSION

38
 CONCLUSIONS
In conclusion, the development of human following
robots has opened up a new era of robotics technology.
These robots are designed to follow human movements and
perform tasks in a variety of settings, from industrial to
domestic environments. They have the potential to make our
lives easier, safer, and more productive. However, there are
still some challenges that need to be addressed. such as the
need for improved sensing and navigation capabilities, as
well as the development of better algorithms for human-
robot interaction. Despite these challenges, human following
robots are likely to become more common in the future and
will play an increasingly important role in our daily lives.

Human following robots is a significant step towards

improving the efficiency and effectiveness of various
industries, including manufacturing, healthcare, and
security. By utilizing advanced technologies such as
computer vision, machine learning, and artificial intelligence,
these robots can accurately track and follow human beings,
reducing the need for human intervention in repetitive or
dangerous tasks. Furthermore, these robots have the
potential to improve the quality of life for people with
disabilities or mobility impairments, allowing them to have
more independence and freedom of movement .

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