This document summarizes the development of an RFID-based auto-navigation robot. The robot uses an Arduino microcontroller and sensors like ultrasonic sensors for obstacle detection, IR sensors for line following, RFID readers for location identification, and Bluetooth for wireless communication. The robot is powered by batteries and can navigate autonomously indoors based on RFID cards, providing navigation assistance and safety features for disabled individuals. An Android app allows users to pair with and control the robot by providing voice commands for destinations. The robot was developed to help blind and disabled people navigate independently within buildings.

1. SIRJ-CSIT Volume 1 Issue 1 (2014)
www.scrutinyjournals.com
Scrutiny International Research
Journal of Computer Science and
Information Technology (SIRJ-CSIT)
RFID based auto-navigation robot
Chandan Raj S1
, Dinesh K. Anvekar2
and Sudhakar Kn3
1&3
Department of Computer Science and Engineering, CMR Institute of Technology,
AECS Layout, Bangalore, India
2
Department of Computer Science and Engineering, NitteMeenakshi Institute of Technology, Govindapura,
GollahlliYelahanka, Bangalore, India
Abstract
Auto-Navigation robot is smart and helpful for physically disabled and blind people.The robot is used to
navigate in infrastructure and in corporate offices. The robot navigation is mainly decided on the RF card unique
Identification number. The robot provides some of the important features for the safety of the people navigating
on it, the features are obstacle detection, Wireless communication between systems,temperature sensing and line
following for hybrid routes. The navigation of the robot is fast due to indoor localization.
Key words: RFID, Bluetooth, Robot, fault management, Auto-Navigation, Android, sensors integration.
Corresponding author
Chandan Raj S,
Department of Computer Science and Engineering,
CMR Institute of Technology.
AECS Layout, Bangalore
India
Introduction
The Robot is developed using Arduino Uno microcontroller kit. Arduino is a open-
source hardware kit with 8-bit Atmet AVR pre-programmed on-board microcontroller kit,
with boot loader that uploads programs into microcontroller memory. They are different
type of Arduino based on their features it is being categorized some of them are Arduino
Deicimila, Arduino UNO, Arduino Leonardo, Arduino Mega, Arduino Nano, Arduino Due ,
Arduino LilyPad and many more. Development boards: Here for this project we are using
Arduino Uno R3. The Arduino Uno R3 specification are ATmega328 microcontroller,
operating voltage at 5v, input voltage 7 to 12v, input voltage limit upto 20v, digital I/O
pins 14, analog pins 6, DC current 40mA, flash memory 32KB including 0.5KB used by boot
loader. Sram of 2KB, EEProm of 1KB and clock speed of 16 MHz. Some of the Features of
Arduino UNO are power: can be USB connection or external power supply, with 7 to 12
volts Recommended. The Arduino UNO provides power pins for other devices, the variants
are 5v 3.3v and vin IOREF pin for optional power.Memory: It as 2KB of SRAM and 1KB of
EEPROM. Input and Output pins:there are 14 digital pins with serial transfer and external

2. www.scrutinyjournals.com Chandan et al. / SIRJ-CSIT/1(1) 2014
22
interrupts and PWM pins as well and 6 analog pins. Communication: the ATmega 328
provides UART TTL serial communication which ia available on 0 and 1 digital pins, the
16U2 firmware uses the standard USB COM drivers, and no external driver is needed. A
Software Serial library allows for serial communication on any of the uno’s digital pins.
Automatic reset is provided using software running on computer with Arduino uno board
connected to that computer. The Arduino provides a IDE for programming the Arduino
uno board, this Arduino IDE can be downloaded from the Arduino official website and its
free.This IDE is supported for every product of Arduino components. In this project we are
using some of the sensors to accomplish the objective of the projects. Some of the sensors
and its descriptions given below. Ultra-sonic Sensor using for achieving the obstacle
detection in the path of the robot so that robot can stop and proceed further after obstacle is
cleared. IR sensor used for line following of the robot where more curves arrive. RF reader
is used for detection and Identification of the RFID card and these are responsible for
further navigation of the robot. The RF cards used for identification of the specific location
based on its unique id. Temperature sensor used to sense the temperature and detect any
fire accident within the infrastructure and navigate people to safe region.
Figure No. 1: Arduino uno R3- Figure No. 2: Ultra sonic
microcontroller development board sensor (for obstacle detection)
Ultrasonic Sensor is similar to radar and sonar, the main working principle is to
evaluate target or objects by echoing sound or radio waves. This sensor generates high
frequency sound waves pop ups out so that the reversed echo, which is received by sensor
evaluates the target and its distance.
RFID- Radio frequency identification reader is a non-contact use of radio frequency
electromagnetic fields to transfer data, for the purpose of auto navigation by tag/card
tracking.
Figure No. 3: RF Reader Figure No. 4: Passive
module (for card tracking) RF card (for navigating)

3. www.scrutinyjournals.com Chandan et al. / SIRJ-CSIT/1(1) 2014
23
RF cards or RF tags, contain electronically stored information. There are many
different types of RF tags/cards, mainly some like short range powered tags, tags with local
power source (battery), and passive tags. In this project the RF cards are placed across the
path for robot to auto navigate.
The Dc motor rotates based on the magnetic repletion. Here in our project we use
6V Dc motor which is powered and controlled by microcontroller. The dc motor here is
used for movement of the robot. As we are using the dc power supply to the microcontroller
so that power is derived to the motor as well via microcontroller.
Figure No. 5: Single DC motor Figure No. 6: PCB of L293
with gears motor driver
L293D is a dual H-Bridge motor driver IC. This driver act as current amplifiers
when they take a low –current control signal and provide a higher current signal to the DC
motors.
IR-infrared, the IR radiation is the position of electromagnetic spectrum having its
wavelengths larger than visible light wavelength, and smaller than microwaves. The range
of IR is 0.75µm to 1000µm. These ir waves are invisible to naked eyes.
The IR module given below is used for line following of robot when the path is
hybrid like RFID based navigation and line following.
Bluetooth is one of the wireless technologies, mainly for exchanging the data over
short range/distance, used in communicating mobile devices and for creating PAN.
Bluetooth ISM band spectrum is from 2.4 to 2.485 GHz.
9V Dc transistor battery is used to power up the robot containing microcontroller,
RF reader, IR sensor, Bluetooth module, ultrasonic sensor and dc motor.

4. www.scrutinyjournals.com Chandan et al. / SIRJ-CSIT/1(1) 2014
24
Figure No. 7: IR Sensor Figure No. 8: Bluetooth module (for
(for line following) communication robot and android phone)
Figure No. 9: 9V Battery
Working procedure
The work flow steps given below,
1. The robot is powered up and then robot will wait to receive the destination to
navigate.
2. The user should start android app and pair the Bluetooth device of the robot.
3. The user later provides the destination via speech and destination sent to robot.
4. The robot receives destination and starts navigating across the route.
5. The robot moves forward until the RF card is read by RF reader.
6. Say, if the RF reader reads a RF card across the route, the its RF card number is
identified by microcontroller, based on it the next direction is decided and also
reads room temperature and send temperature to phone .
7. The microcontroller also decides the type pf the route like, line following or go
straight based on the RF card encounter.
Finally, if the destination is reached it send the destination reached and in the app
may is displayed.

5. www.scrutinyjournals.com Chandan et al. / SIRJ-CSIT/1(1) 2014
25
Experimental procedure
Run the app in the android app for setting the destination, power on the robot and
then using android phone Bluetooth pair with the robot Bluetooth once done with pairing,
click input destination on the app screen and speck the destination by seeing the map within
that screen. After setting the destination the robot navigates towards the destination and
finally when robor reaches the destination it will speak out destination reached from the
android phone. I the interval like turning stop’s it will speak out the current temperature. If
any disaster like fire accident happens the robot automatically senses the danger and
navigates itself to safer area/safe exit.
Figure No. 10: Robot navigation android app
Figure No. 11: Snapshot’s of system and components
Complete robot system (top view) Complete robot system (side view)

6. www.scrutinyjournals.com Chandan et al. / SIRJ-CSIT/1(1) 2014
26
Conclusion
This is robot is mainly useful for the people of the blind and physically disabled to
navigated to local location say, within their home without any ones help. This robot is also
useful for people navigating with the new building, where there may be visited for the first
time, by this they can see map and go to destination without any ones help.
The Robot can use GPS, for global navigation.Add other appropriate sensor for
effective navigation and safety of the blind and physically disabled people.
Reference
Benjamin Kuipers and Yung-Tai Byun,(1981), A robot exploration and mapping strategy based
on a semantic hierarchy of spatial representations.
Sebastian Thrunyz,ArnoBucken(1996), Integrating Grid-Based and Topological Maps for
Mobile Robot Navigation.
Huosheng Hu and DongbingGu(2000), Landmark-based Navigation of Industrial Mobile
Robots.
Josep M. MiratsTur, Claudio Zinggerling,AndreuCorominasMurtra (2007), , Geographical
Information Systems for Mobile Robotics Map Based Navigation in Urban
Environments.
Xinde Li1,Xiulong Zhang1, Bo Zhu and Xianzhong Dai (2012),A Visual Navigation Method of
Mobile Robot Using a Sketched Semantic Map.
Guilherme N. DeSouza and Avinash C. Kak (2002), Vision for Mobile Robot Navigation: A
Survey, Guilherme
Y. Ono, H. Uchiyama, W. Potter (2004), A Mobile Robot For Corridor Navigation: A Multi-
Agent Approach Robotics (2010),
Adam Borkowski, Barbara Siemiatkowska, and JacekSzklarskiGlennlcash,MehdiHatamian
(1987),Optical character recognition by the method of moments.
Thomas A. Nartkerb, Stephen V. Ricec(1999), Optical Character Recognition: An illustrated
guide to the frontier-George Nagy,
Luis von Ahn,Benjamin Maurer, Colin McMillen, David Abraham, Manuel Blum (2008),
reCAPTCHA: Human-Based Character Recognition via Web Security Measures.
Weixing Mei, Wei Pan, LidongXie (2012), Semantic- Understand-Based Landmark Navigation
Method of Robots Research Report on Bangla Optical Character Recognition Using
Kohonen Network, Adnan Md. ShoebShatil.