Gesture control car

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A
Report of Major Project
0n
Gesture Control Car
Submitted in partial fulfillment for the
Award of degree of
Bachelor of Technology
In
Electronics & Communication Engineering
Under the Guidance of
Mr. Praveen Kumar Singh
Asst. Prof. ECE Department
Submitted By:
SAURAV KUMAR NAVEEN KUMAR MADHUKAR KR. RAI
PU313005 PU313008 PU313007
Department of Electronics & Communication Engineering
PRATAP UNIVERSITY, JAIPUR
2016-17
CERTIFICATE

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This is to certify that the report for project work entitled “Gesture Control Car’’ being submitted by
Saurav Kumar (Enroll No.:-PU313005), Naveen Kumar (Enroll No.:-PU313008), Madhukar Kr.
Rai (Enroll No.:-PU313007) for the partial fulfillment of the requirements for the award of the degree
Bachelor of Technology in Department of Electronics and Communication Engineering at the
Pratap University, Jaipur. It is certified that the report embodies the results of the work carried out
by him within the prescribed period. The matter embodies in this dissertation has not been submitted
for the award of any other degree.
Approved for Submission Supervisor
(Mr. Abhinandan Jain) (Mr. Praveen Kumar Singh)
Head of Department Asst. Prof. of Department
Pratap University, Jaipur Pratap University, Jaipur
Place: Jaipur
Date: 29/04/2017
DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING
PRATAP UNIVERSITY
JAIPUR (RAJASTHAN)-303104 (INDIA)

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DECLARATION
We hereby declare that the dissertation titled “Gesture Control Car” submitted to the Pratap
University, Jaipur in fulfillment of the requirements for the award of the degree of Bachelor Of
Technology in Electronics and Communication Engineering is a record of original project work
done by us under Head of Department , Electronic and Communication Engineering, And the
motivation and support of Mr. Praveen Kumar Singh, Asst. Prof. Department of Electronics and
Communication Engineering, Pratap University, Jaipur.
Saurav Kumar
Naveen Kumar
Madhukar Kr. Rai

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ACKNOWLEDGEMENT
I am very thankful to Mr. Abhinandan Jain, Head of the Department, of Electrical Engineering
and Electronics & Communication Engineering for approving our Project, timely encouragement
and supervision.
I am thankful & grateful to Mr. Praveen Kumar Singh, Asst. Prof. (Coordinator) Faculty, of
Electronics and Communication Engineering Department for his valuable guidance on principles,
fundamentals, concepts and execution regarding the Project which has helped us in completion of
project & preparation of the report.
I would like to place our thankfulness to Mr. Praveen Kumar Singh, Asst. Prof. (Coordinator)
Faculty, of Electronics and Communication Engineering Department on record without whose
guidance and timely help the Project could not have been completed in time.
Place: - Jaipur Saurav Kumar
Date: - 29/04/2017 Naveen Kumar
Madhukar Kr. Rai

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ABSTRACT
Gesture Controlled Car is a robot which can be controlled by simple human gestures. The user
just needs to wear a gesture device in which a sensor is included. The sensor will record the movement
of hand in a specific direction which will result in the motion of the robot in the respective directions.
The robot and the Gesture instrument are connected wirelessly through radio waves. User can interact
with the robot in a more friendly way due to the wireless communication. We can control the car using
accelerometer sensors connected to a hand glove. The sensors are intended to replace the remote
control that is generally used to run the car. It will allow user to control the forward, backward, leftward
and rightward movements, while using the same accelerometer sensor to control the throttle of the car.
Movement of car is controlled by the differential mechanism. The mechanism involves the rotation of
both forth & rear wheels of left or right side to move in the anticlockwise direction and the other pair
to rotate in the clockwise direction which makes the car to rotate about its own axis without any kind
of forward or backward motion. The main advantage of this mechanism is the car with this mechanism
can take sharp turn without any difficulty.
.

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Table of Content
S. No. Content Page No.
1 Certificate 1
2 Declaration 2
3 Acknowledgement 3
4 Abstract 4
5 Table Of Content 5
6 List of Figure 7
7 CHAPTER 1 8-9
8 Introduction 8
9 1.1 Human Machine Interaction 8
10 1.2 Gesture 9
11 1.3 Objective of Project 9
12 CHAPTER 2 10-10
13 Gesture Controlled Robot 10
14 2.1 Gesture Controlled Robot 10
15 2.2 Application
16 CHAPTER 3 11-18
17 Literature Review 11
18 3.1 Accelerometer (ADXL335) 12
19 3.2 Arduino Uno 12
20 3.2.1 Ardunio Software 13
21 3.3 ATmega328 13
22 3.4 Encoder IC (HT12E) 14
23 3.5 RF Module (Rx/Tx) 15
24 3.6 Decoder IC (HT12D) 16
25 3.7 Motor Driver IC (L923D) 17
26 3.8 DC Motor 18
27 CHAPTER 4 20
28 Implementation 20-22
29 4.1 Simulation 22
30 CHAPTER 5 24-25
31 Conclusion, Limitation AND Future Work 24
32 5.1 Conclusion 24
33 5.2 Limitations And Future Work 25
34 CHAPTER 6 26-29
35 Feasibility Of The Project 26

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36 6.1 Software 26
37 6.2 Hardware 26
38 Arduino Code 26
39 CONCLUSION 29
40 REFERNCE 30

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List of Figures
S. No. Name of Figure Page No.
1 Block Diagram of the Wireless Gesture controlled Car 11
2 ADXL335 Accelerometer 12
3 Pin description for Accelerometer 12
4 Arduino UNO 13
5 ATmega328 micro-controller 14
6 HT12E IC 14
7 Pin description for HT12E 15
8 RF Transmitter 15
9 Pin description for RF Tx 16
10 RF Receiver 16
11 Pin description for RF Rx 16
12 L293D IC 17
13 H-Bridge 18
14 DC Motor 19
15 ASK Modulation 20
16 Transmitting Circuit 21
17 Receiving Circuit 22
18 FYP-1 Simulation 23
19 Hand Gesture 24

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CHAPTER 1
INTRODUCTION
The robot is usually an electro-mechanical machine that can perform tasks automatically. Some
robots require some degree of guidance, which may be done using a remote control or with a computer
interface. Robots can be autonomous, semi-autonomous or remotely controlled. Robots have evolved
so much and are capable of mimicking humans that they seem to have a mind of their own. An
important aspect of a successful robotic system is the Human-Machine interaction. In the early years
the only way to communicate with a robot was to program which required extensive hard work. With
the development in science and robotics, gesture based recognition came into life. Gestures originate
from any bodily motion or state but commonly originate from the face or hand. Gesture recognition
can be considered as a way for computer to understand human body language. This has minimized the
need for text interfaces and GUIs (Graphical User Interface). Gesture recognition technologies are
much younger in the world of today. At this time there is much active research in the field and little in
the way of publicly available implementations. Several approaches have been developed for sensing
gestures and controlling robots. Glove based technique is a well-known means of recognizing hand
gestures. It utilizes a sensor attached to a glove that directly measures hand movements.
A Gesture Controlled robot is a kind of robot which can be controlled by hand gestures and not
the old fashioned way by using buttons. The user just needs to wear a small transmitting device on his
hand which includes a sensor which is an accelerometer in our case. Movement of the hand in a specific
direction will transmit a command to the robot which will then move in a specific direction. The
transmitting device includes a Comparator IC for assigning proper levels to the input voltages from
the accelerometer and an Encoder IC which is used to encode the four bit data and then it will be
transmitted by an RF Transmitter module. At the receiving end an RF Receiver module will receive
the encoded data and decode it by using a decoder IC. This data is then processed by a microcontroller
and passed onto a motor driver to rotate the motors in a special configuration to make the robot move
in the same direction as that of the hand.
1.1 HUMAN MACHINE INTERACTION
An important aspect of a successful robotic system is the Human-Machine interaction. In the early
years the only way to communicate with a robot was to program which required extensive hard work.
With the development in science and robotics, gesture based recognition came into life. Gestures

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originate from any bodily motion or state but commonly originate from the face or hand. Gesture
recognition can be considered as a way for computer to understand human body language. This has
minimized the need for text interfaces and GUIs (Graphical User Interface).
1.2 GESTURE
A gesture is an action that has to be seen by someone else and has to convey some piece of
information. Gesture is usually considered as a movement of part of the body, esp. a hand or the head,
to express an idea or meaning.
1.3 OBJECTIVE OF PROJECT
Our objective is to make this device simple as well as cheap so that it could be mass produced and
can be used for a number of purposes

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CHAPTER 2
GESTURE CONTROLLED ROBOT
2.1 GESTURE CONTROLLED ROBOT
Gesture recognition technologies are much younger in the world of today. At this time there is
much active research in the field and little in the way of publicly available implementations. Several
approaches have been developed for sensing gestures and controlling robots. Glove based technique is
a well-known means of recognizing hand gestures. It utilizes a sensor attached to a glove that directly
measures hand movements.
A Gesture Controlled robot is a kind of robot which can be controlled by hand gestures and not
the old fashioned way by using buttons. The user just needs to wear a small transmitting device on his
hand which includes a sensor which is an accelerometer in our case. Movement of the hand in a specific
direction will transmit a command to the robot which will then move in a specific direction. The
transmitting device includes a Comparator IC for assigning proper levels to the input voltages from
the accelerometer and an Encoder IC which is used to encode the four bit data and then it will be
transmitted by an RF Transmitter module.
At the receiving end an RF Receiver module will receive the encoded data and decode it by
using a decoder IC. This data is then processed by a microcontroller and passed onto a motor driver to
rotate the motors in a special configuration to make the robot move in the same direction as that of the
hand.
2.2APPLICATIONS
1) Through the use of gesture recognition, remote control with the wave of a hand of various
devices is possible.
2) Gestures can be used to control interactions for entertainment purposes such as gaming to make
the game player's experience more interactive or immersive.

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CHAPTER 3
LITERATURE REVIEW
Our gesture controlled Car works on the principle of accelerometer which records hand
movements and sends that data to the comparator which assigns proper voltage levels to the recorded
movements. That information is then transferred to encoder which makes it ready for RF transmission.
On the receiving end, the information is received wirelessly via RF, decoded and then passed onto the
microcontroller which takes various decisions based on the received information. These decisions are
passed to the motor driver IC which triggers the motors in different configurations to make the robot
move in a specific direction. The following block diagram helps to understand the working of the
robot:
(A)TRANSMITTER
(B) RECEIVER
Figure 3-1 Block Diagram of the wireless gesture controlled robot
We divided our task into two parts to make the task easy and simple and to avoid complexity and make
it error free. The first is the transmitting section which includes the following components:
1) Accelerometer
2) Atmega328(MCU)
3) Encoder IC
4) RF Transmitter Module
The second is the receiving end which comprises of following main components:
1) RF Receiver Module
2) Decoder IC
ACCELRO METER
ADXL335
433MHz
RECEIVER
MODULE
MOTOR DRIVER
L293D
MICRO
CONTROLLER
ATMEGA328
433MHz
TRANSMITTER
MODULE
DECODER HT12D
ENCODER
HT12E

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3) Motor Driver IC
4) DC Geared Motors
3.1ACCELEROMETER (ADXL335)
An Accelerometer is an electromechanical device that measures acceleration forces. These forces
may be static, like the constant force of gravity pulling at your feet, or they could be dynamic – caused
by moving or vibrating the accelerometer. It is a kind of sensor which record acceleration and gives
an analog data while moving in X, Y, Z direction or may be X, Y direction only depending on the type
of the sensor.
Figure 3-2 ADXL335 Accelerometer
Table 3-1 Pin description for Accelerometer
3.2 Arduino Uno
Arduino is an open-source computer hardware and software company, project and user
community that designs and manufactures kits for building digital devices and interactive objects that
can sense and control the physical world.

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Figure 3-3Arduino UNO
3.2.1 Arduino Software
The Arduino integrated development environment (IDE) is a cross-platform application written
in Java, and derives from the IDE for the Processing programming language and the Wiring projects.
It is designed to introduce programming to artists and other newcomers unfamiliar with software
development. It includes a code editor with features such as syntax highlighting, brace matching, and
automatic indentation, and is also capable of compiling and uploading programs to the board with a
single click. A program or code written for Arduino is called a “sketch”
Arduino programs are written in C or C++. The Arduino IDE comes with a software library called
"Wiring" from the original Wiring project, which makes many common input/output operations much
easier. Users only need define two functions to make an executable cyclic executive program:
 setup(): a function run once at the start of a program that can initialize settings
 loop(): a function called repeatedly until the board powers off
3.3 ATmega328
ATmega328 is a single-chip micro controller from Atmel and belongs to the mega AVR series.
The Atmel 8-bit AVR RISC based microcontroller combines 32kB ISP flash memory with read while
write capabilities, 1kB EEPROM, 2kB SRAM, 23 general-purpose I/O lines, 32 general-purpose
working register, three flexible timers/counters with compare modes, internal and external interrupts,
serial programmable USART, a byte oriented 2-wire serial interface, SPI serial port, 10 bit A/D
converter, programmable watch-dog timer with an internal oscillator and five software-selectable
power-saving modes.
The device operates between 1.8 and 5.5 volts. It achieves throughputs approaching one MIPS per
MHz. An alternative to ATmega328 is ATmega328p.

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Figure 3-4 ATmega328 micro-controller
3.3 ENCODER IC (HT12E)
PT2262 is a remote control encoder paired with PT2272 utilizing CMOS technology. It
encodes data and address pins into serial coded waveform suitable for RF or IR modulation. PT2262
has a maximum of 12 bits of tri-state address pins providing up to 312 address codes; thereby,
drastically reducing any code collision and unauthorized code scanning possibilities. The pin
description is shown below. It has 4 input while 1 output pin. The address pins can also be utilized as
data pins.
Figure 3-5 HT12E IC

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Table 3-3 Pin description for HT12E
3.4 RF MODULE (Rx/Tx)
Radio frequency (RF) is a rate of oscillation in the range of about 3 KHz to 300 GHz, which
corresponds to the frequency of radio waves, and the alternating currents which carry radio signals.
Although radio frequency is a rate of oscillation, the term "radio frequency" or its abbreviation
"RF" are also used as a synonym for radio – i.e. to describe the use of wireless communication, as
opposed to communication via electric wires
The RF module is working on the frequency of 433 MHz and has a range of 100-200 meters.
Figure 3-5 RF Transmitter

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Table 3-3 Pin description for RF Tx
Figure 3-6 RF Receiver
Table 4-1 Pin description for RF Rx
3.5 DECODER IC (HT12D)
PT2272 is a remote control decoder paired with PT2262 utilizing CMOS Technology. It has
12 bits of tri-state address pins providing a maximum of 312 address codes; thereby, drastically
reducing any code collision and unauthorized code scanning possibilities. The input data is decoded
when no error or unmatched codes are found. It has 1 input while 4 output pins. The address pins can
also be utilized as data pins.

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Figure 3-7 HT12E IC
Table 4-2 Pin description for HT12E
3.6 MOTOR DRIVER IC (L293D)
It is also known as H-Bridge or Actuator IC. Actuators are those devices which actually gives
the movement to do a task like that of a motor. In the real world there are different types of motors
available which work on different voltages. So we need a motor driver for running them through the
controller.
The output from the microcontroller is a low current signal. The motor driver amplifies that
current which can control and drive a motor. In most cases, a transistor can act as a switch and perform
this task which drives the motor in a single direction.
Figure 3-10 L293D IC

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Turning a motor ON and OFF requires only one switch to control a single motor in a single
direction. We can reverse the direction of the motor by simply reversing its polarity. This can be
achieved by using four switches that are arranged in an intelligent manner such that the circuit not only
drives the motor, but also controls its direction. Out of many, one of the most common and clever
design is a H-bridge circuit where transistors are arranged in a shape that resembles the English
alphabet "H".
Figure 3-11 H-Bridge
As seen in the image, the circuit has four switches A, B, C and D. Turning these switches ON and
OFF can drive a motor in different ways.
 When switches A and D are on, motor rotates clockwise.
 When B and C are on, the motor rotates anti-clockwise.
 When A and B are on, the motor will stop.
 Turning off all the switches gives the motor a free wheel drive.
 Turning on A& C at the same time or B & D at the same time shorts the entire circuit. So, never
try to do it.
3.7 DC MOTORS
A machine that converts DC power into mechanical power is known as a DC motor. Its
operation is based on the principle that when a current carrying conductor is placed in a magnetic field,
the conductor experiences a mechanical force.
DC motors have a revolving armature winding but non-revolving armature magnetic field and
a stationary field winding or permanent magnet. Different connections of the field and armature
winding provide different speed/torque regulation features. The speed of a DC motor can be controlled
by changing the voltage applied to the armature or by changing the field current.

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Figure 3-12 DC Motor

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CHEPTER 4
IMPLEMENTATION
The accelerometer records the hand movements in the X and Y directions only and outputs
constant analog voltage levels. These voltages are fed to the comparator IC which compares it with
the references voltages that we have set via variable resistors attached to the IC. The levels that we
have set are 1.7V and 1.4V.every voltage generated by the accelerometer is compares with these and
an analog 1 or 0 signal is given out by the comparator IC.
This analog signal is the input to the encoder IC. The input to the encoder is parallel while the
output is a serial coded waveform which is suitable for RF transmission. A push button is attached to
pin 14 of this IC which is the transmission enable(TE)pin. The coded data will be passed onto the RF
module only when the button is pressed. This button makes sure no data is transmitted unless we want
to.
The RF transmitter modulates the input signal using amplitude shift keying (ASK) modulation.
It is the form of modulation that represents digital data as variations in amplitude of a carrier wave.
The following figure shows the modulated output of the RF module:
Fig 4-2 ASK Modulation
The RF modules works on the frequency of 315MHz. It means that the carrier frequency of the
RF module is 315MHz. The RF module enables the user to control the robot wirelessly and with ease.

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The schematic of transmitting end can be seen below:
Fig 4-3 Transmitting Circuit
This transmitted signal is received by the RF receiver, demodulated and then passed onto the
decoder IC. The decoder IC decodes the coded waveform and the original data bits are recovered. The
input is a serial coded modulated waveform while the output is parallel. The pin 17 of the decoder IC
is the valid transmission (VT) pinA led can be connected to this pin which will indicate the status of
the transmission. In the case of a successful transmission, the led will blink.
The parallel data from the encoder is fed to the port lot the microcontroller. This data is in the
form of bits. The microcontroller reads these bits and takes decision on the basis of these bits. What
the microcontroller does is, it compares the input bits with the coded bits which are burnt into the
program memory of the microcontroller and outputs on the basis of these bits.port 2 of the
microcontroller is used as the output port.output bits from this port are forwarded to the motor driver
IC which drives the motors in a special configuration based on the hand movements.

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Fig 4-4 Receiving Circuit
4.1 SIMULATION
We performed a simulation of our project in PROTEUS and the code was written in C language
using KEIL MICROVISION. We wrote a code for the microcontroller to run DC motors using the H-
Bridge IC (L293D). In the simulation we sent the relevant data to the Microcontroller (AT89C51)
through switches. The Microcontroller processed the data and sent the information tothe Actuator IC
(L293D). The Actuator IC upon receiving information showed response by driving the DC motors.
The simulation schematic is as follow:

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Figure 4-1 FYP-1 Simulation

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CHAPTER 5
CONCLUSION, LIMITATIONS AND FUTURE WORK
5.1 CONCLUSION
We achieved our objective without any hurdles i.e. the control of a robot using gestures. The
robot is showing proper responses whenever we move our hand. Different Hand gestures to make the
robot move in specific directions are as follow:
Fig 5-1 Move Backward Fig 5-2 Move forward
Fig 5-3 Move Right Fig 5-4 Move Left
The robot only moves when the accelerometer is moved in a specific direction. The validmovements
are as follows:
DIRECTION ACCELEROMETER ORIENTATION
Forward +y
Backward -y
Right +x
Left -x
Stop Rest

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5.2 LIMITATIONS AND FUTURE WORK
 The on-board batteries occupy a lot of space and are also quite heavy. We can either use some
alternate power source for the batteries or replace the current DC Motors with ones which
require less power.
 Secondly, as we are using RF for wireless transmission, the range is quite limited; nearly50-
80m. This problem can be solved by utilizing a GSM module for wireless transmission. The
GSM infrastructure is installed almost all over the world. GSM will not only provide wireless
connectivity but also quite a large range.
 Thirdly, an on-board camera can be installed for monitoring the robot from faraway places. All
we need is a wireless camera which will broadcast and a receiver module which will provide
live streaming.

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CHAPTER 6
FEASIBILITY OF THE PROJECT
During the development of the project we researched the feasibility in different fields,
especially software and hardware. The feasibility study is shown below.
6.1 SOFTWARE
We targeted to choose a language that is easy to understand and program. So we chose
assembly language for our project. Assembly language is the basic language of microcontrollers.
Although its not user friendly in terms of programming but still one can learn it quickly.
6.2 HARDWARE
We chose accelerometer as the sensing device because it records even the minute movements.
We could also have completed our project using Arduino but chose microcontroller instead because
its cost is low and is easily available everywhere. There are a number of dc geared motors available
but the ones we chose are capable of supporting loads up to 6kgs.
ARDUINO CODE
void setup()
{
pinMode(A0,INPUT);
pinMode(A1,INPUT);
// pinMode(A2,INPUT);
Serial.begin(9600);
pinMode(13,OUTPUT);
pinMode(10,OUTPUT);
pinMode(11,OUTPUT);
pinMode(12,OUTPUT);
}
void loop()
{
int X= analogRead(A0);
int Y=analogRead(A1);

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//int Z=analogRead(A2);
Serial.print("X=");
Serial.println(X);
Serial.print("Y=");
Serial.println(Y);
Serial.println(" ");
//Serial.print("Z=");
//Serial.println(Z);
delay(1000);
if((X>343 && X <418) && (Y>320 && Y<340)) // for backward movement
{
digitalWrite(13,LOW);
digitalWrite(12,HIGH);
}
else
{
if((X>330 && X<345) && (Y>330 && Y<402)) // for left turn
{
}
else
{
if((X>260 && X<350) && (Y>330 && Y<348)) // for forward
{
}

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else
{
if((X>322 && X<368) && (Y>262 && Y<338)) //for right turn
{
}
else
{
}
}
}
}
}

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CONCLUSION
The purpose of project is to control a toy car using accelerometer sensors attached to a hand
glove. The sensors are intended to replace the remote control that is generally used to run the car. It
will allow us to control the forward and backward, and left and right movements, while using the same
accelerometer sensor to control the throttle of the car.
Future Scope
 The on-board batteries occupy a lot of space and are also quite heavy. We can either use
some alternate power source for the batteries or replace the current DC Motors with ones
which require less power.
 Secondly, as we are using RF for wireless transmission, the range is quite limited; nearly 50-
80m. This problem can be solved by utilizing a GSM module for wireless transmission. The
GSM infrastructure is installed almost all over the world. GSM will not only provide wireless
connectivity but also quite a large range.
 Thirdly, an on-board camera can be installed for monitoring the robot from faraway places.
All we need is a wireless camera which will broadcast and a receiver module which will
provide live streaming.

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REFERENCES
[1] Nitin and Naresh, “Gesture Controlled Robot PPT”, URL Available
[http://seminarprojects.com/s/hand-gesturecontrolled-robot-ppt.
[2] Naveet Kumar, Neeraj Purohit, “Gesture Controlled Tank Toy User Guide” URL Available
[http://www.slideshare.net/neeraj18290/wireless-gesturecontrolled-tank-toy-transmitter] Accessed 13
October 2013.
[3] Jochen Triesch and Christoph Von Der Malsburg “Robotic Gesture Recognition (1997)”URL
Available [http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1. 1.37.5427] Accessed 15 October
2013.
[4] “Real-Time Robotic Hand Control Using Hand Gestures” by Jagdish Lal Raheja, Radhey Shyam,
G. Arun Rajsekhar and P. Bhanu Prasad.

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