This document describes the design and implementation of a human following robot using an Arduino Uno microcontroller. The robot uses an ultrasonic sensor to detect the distance to nearby humans and IR sensors to detect obstacles on its left and right sides. When a human is detected, the robot follows the person while avoiding obstacles using signals from the sensors. The circuit diagram shows how the Arduino, sensors, servo motor and motor driver shield are connected. The objectives are to detect humans, control the robot's movement, and enable obstacle avoidance. The total cost of components for the robot is approximately 3000 rupees.

1. HUMAN FOLLOWING
ROBOT USING ARDUINO
UNO
Presented By
Prijo P
Haris mon H
Saidali Saleem

2. Contents
● Introduction
● Scope
● Objectives
● Block diagram
● Working
● Circuit diagram
● Hardware & Software Requirement
● Advantages
● Result
● Total Cost
● References

3. Introduction
● In this high technology, a robot must be able to detect and follow
humans. A robot that can detect and follow human or obstacle within a
specific range is called ‘Human Following Robot’.
● The robot needs a mechanism which can make decision for it to take
actions accordingly so that the task can be performed correctly.
● The involved mechanism is sensor that can detect obstacles or object
around the robot itself
● In this project, Ultrasonic sensor is used. Ultrasonic sensor is a device
that able to measure the distance to an obstacles by using sound wave

4. Scope
● Human following robots are currently being used in a number of
areas in our world today. As well as being proposed for used in other
sectors too. These sector include service areas,household,travel and
shopping;
● Human following robot include detecting the target
person,preventing permanent loss of the target person
● Determining the distance from detect person and navigating with
respect to the target person

5. Objectives
● A Human following robot requires several techniques, such as Human
target detection
● Robot control algorithm and obstacle avoidance.Various approaches of
following robots have been proposed such as using ultrasonic sensor

6. Block diagram

7. Working
● When you put your hand near to the ultrasonic sensor the robot will start
forward . And if you turn your hand to the left side Arduino robot moves
one the left side, and if you put your hand in the right The robot will moves
in the right direction
● When you put your hand in front of the left side of ultrasonic sensor then
the sensor detect your hand send this information to arduino
● The two IR sensor, one is at the left side of ultrasonic sensor and other is
the right side of the ultrasonic sensor

8. Circuit Diagram

9. Hardware & Software Requirement
● Arduino uno
● IR Sensor
● Ultrasonic Sensor
● Servo motor
● Motor driven shield
● DC Gear motor
● Arduino IDE

10. Arduino Uno
● Arduino uno is microcontroller board based on ATmega328
● It has 14 digital input/output pins, 6 analog input

11. IR and Ultrasonic sensor
IR sensor
● Proximity sensor is used to detect object & obstacles in front of sensor
● Digital low output on detecting objects in front
Ultrasonic sensor
● An ultrasonic sensor measures the distance if a target object by emitting
ultrasonic sound waves
● For ultrasonic sensor range is 40 to 70 khz

12. Servo Motor
● Micro servo motor is a tiny and lightweight sever motor with high output
power
● Servo can rotate approximately 180 degree

13. Motor driver shield & DC gear motor
Motor driver shield
● Motor allows you to use Arduino to control the working speed and
direction of the motor
● The motor driver shield can control four servo once
DC gear motor
● A gear motor is a component whose mechanism adjust the speed of the
motor

14. Arduino IDE
● The Arduino IDE supports the language C & C++ using special rules of
code structuring
● The Arduino IDE supplies a software library from the wiring project ,
which provides many common input and output procedure

15. Advantages
● A Human following robot requires several techniques such as humans
target detection,robot control algorithm and obstacle avoidance
● It can be used for home for floor cleaning
● In hotel they are being used for the transfer of things from one place to
another following a straight path

16. Result
● When you put your hand near to the ultrasonic sensor the robot will
start forward . And if you turn your hand to the left side Arduino robot
moves one the left side, and if you put your hand in the right The robot
will moves in the right direction

17. Total Cost
● 3000

18. 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] H. Takemura, N.
Zentaro, and H. Mizoguchi, “Development of vision-based person following
module for mobile robots in/outdoor environment,” in 2009 IEEE
International Conference on Robotics and Biomimetics (ROBIO), 2009, [4] N.
Bellotto and H. Hu, “Multisensor integration for human-robot interaction,”
IEEE J. Intell. Cybern.Syst., vol. 1, no. 1, p. 1, 2005

19. Thank you