GUJARAT TECHNOLOGICAL UNIVERSITY
Chandkheda, Ahmedabad
GOVERNMENT ENGINEERING COLLEGE
BHARUCH
A report on
PATH FINDING ROBOT
Under subject of
DESIGN ENGINEERING – 2B 3160001
B.E. III, Semester – VI
ELECTRONICS AND COMMUNICATION ENGINEERING
Submitted by
Sr No.
Name of student
Enrollment No.
Shaikh Mohammad Umar
210140111008
2. Ojha Avinash Shivjibhai
210140111014
3. Manish Krishandatt Upadhyay
210140111072
4. Rana Devyani Narendra Sinh
210140111015
1.
Internal guide:
Prof. Devendra .R.Patel
Head of department:
Prof K.J.Bhuva
Government Engineering College
Bharuch
ACADEMIC YEAR 2024
GOVERNMENT ENGINEERING COLLEGE BHARUCH
DEPARTMENT OF
ELECTRONICS & COMMUNICATION ENGINEERING
CERTIFICATE
This is to certify that the Report entitled “ Path finding robot” has been carried out
by Shaikh Mohammad Umar (210140111008), Ojha Avinash Shivjibhai
(210140111014), Manish Krishandatt Upadhyay (210140111072), Rana Devyani
Narendra Sinh (210140111015) ,following students under my guidance in fulfilment
of the term work of Bachelor of Engineering in ELECTRONICS AND
COMMUNICATION 6th Semester of Gujarat Technological University,
Ahmedabad during the academic year 2023-24.
Guided by:
Head of Department:
Prof. Devendra R. Patel
Prof.K.J.Bhuva
Date:
/
/
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DECLARATION OF ORIGINALITY
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ACKNOWLEDGEMENT
We would like to extend our sincere thanks to our internal guide Prof. Devendra R.
Patel for their useful guidance for our project. He guided us very much for project and
report.
This movement asks for a token of gratitude to them for giving us this opportunity to
undertake a project firm. Our heart full thanks to you sir.
Special thanks to our HOD, Prof. K.J. Bhuva and our project in charge, Prof. Devendra
R. Patel for opening up a new way of observing things which boosted our imagination
and thought process in the project.
Shaikh Mohammad Umar
(210140111008)
Ojha Avinash Shivjibhai
(210140111014)
Manish Krishandatt Upadhyay (210140111072)
Rana Devyani Narendra sinh
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ABSTRACT
The project is design to build a path finding robotic vehicle using esp32 cams for its
movement. A microcontroller (ATmega328) is used to achieve the desired operation.
A robot is a machine that can perform task automatically or with guidance. The project
proposes robotic vehicle that has an intelligence built in it such that it directs itself
whenever an obstacle comes in its path. This robotic vehicle is built, using a microcontroller of AT mega 328
family. An esp32 cam module is used to detect any obstacle ahead of it and sends a
command to the micro-controller. Depending on the input signal received, the microcontroller redirects the robot to move in an alternate direction by actuating the motors
which are interfaced to it through a motor driver. Some of the project is built with the
IR sensors has its own application so in our project those application is not compactable
so we are using esp32 cam.
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Table Of Content
CERTIFICATE .......................................................................................................... i
DECLARATION OF ORIGINALITY ....................................................................... ii
ACKNOWLEDGEMENT ........................................................................................ iii
ABSTRACT ............................................................................................................. iv
CHAPTER 1.............................................................................................................. 1
INTRODUCTION ..................................................................................................... 1
Chapter 2 ................................................................................................................... 2
LITERATURE REVIEW .......................................................................................... 2
Chapter 3 ................................................................................................................... 3
IDEATION................................................................................................................ 3
3.1 People .............................................................................................................. 3
3.2 Activities ......................................................................................................... 3
3.3 Situation/Context/Location .............................................................................. 3
3.4 Props................................................................................................................ 4
Chapter 4 ................................................................................................................... 5
EMPATHY CANVAS ............................................................................................... 5
4.1 Storyboarding .................................................................................................. 6
4.2 User ................................................................................................................. 6
4.3 Activities ......................................................................................................... 6
4.4 Stakeholders .................................................................................................... 6
Chapter 5 ................................................................................................................... 8
AEIOU CANVAS ..................................................................................................... 8
5.1 ACTIVITIES ................................................................................................... 8
5.2 Environment .................................................................................................... 8
5.3 INTERACTIONS ............................................................................................ 8
5.4 OBJECTS ........................................................................................................ 8
5.5 USERS ............................................................................................................ 9
Chapter 6 ................................................................................................................. 10
PRODUCT DEVELOPMENT CANVAS ................................................................ 10
6.1 Purpose .......................................................................................................... 10
6.2 Product Function ............................................................................................ 10
6.3 Product Feature .............................................................................................. 10
6.4 Components ................................................................................................... 11
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6.5 Customer Revalidation ................................................................................... 11
6.6 Reject / Retain / Redesign .............................................................................. 11
Chapter 7 ................................................................................................................. 13
Mind mapping ......................................................................................................... 13
7.1 Application .................................................................................................... 13
Chapter 8 ................................................................................................................. 14
L.N.M MATRIX ..................................................................................................... 14
8.1 Design Specification ...................................................................................... 14
8.2 Theories Involved .......................................................................................... 14
8.3 Software/ Tools/Skills required ...................................................................... 14
8.4 Component material/strength criteria ............................................................. 14
Chapter 9 ................................................................................................................. 16
PROTOTYPE .......................................................................................................... 16
Chapter 10 ............................................................................................................... 18
Advantages and disadvantages ................................................................................. 18
10.1 Advantages ................................................................................................. 18
10.2 Disadvantages ............................................................................................. 18
FUTURE SCOPE OF PATH FINDING ROBOT .................................................... 19
CONCLUTION ....................................................................................................... 21
REFERENCES ........................................................................................................ 22
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Figure of Content
Figure 1:Ideation Canvas ........................................................................................... 4
Figure 2:Empathy Canvas ......................................................................................... 7
Figure 3:AEIOU Canvas ........................................................................................... 9
Figure 4:PDC Canvas.............................................................................................. 12
Figure 5: Mind map ................................................................................................ 13
Figure 6 LNM matrix .............................................................................................. 15
Figure 7Prototype[a] ............................................................................................... 17
Figure 8 Prototype[b] .............................................................................................. 17
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ROBOT
PATH FINDING
CHAPTER 1
INTRODUCTION
Robots are one of the most attractive machines in the field of artificial
intelligence. They are changing the world with their robust and intelligent
behaviors, especially in the industrial sector. Most common type of robot
we see is a vehicular shaped robot on wheels equipped with a bunch of
sensors and with flexible motion capabilities. It looks very fascinating to
see a robot cruising steadily on the ground, avoiding obstacles and
reaching from one point to another like a champion. These tasks might
look very easy to be implemented conceptually or theoretically, however
they involve exponential complexities behind the scene. We can
generalize the big-picture of robot building into two sections; algorithm
design and physical dynamics. Algorithm design comprises of designing a
mathematical model of the world and formulating logical methods for a
specific task like collision avoidance, mapping, path planning and finding,
localization etc.
The part of the big-picture is physical dynamics.
It involves modeling of parameters that are directly related to stochastic
world behavior. Since algorithms for robot agents are programmed in a
computer-generated simulation world and despite those simulation
worlds have a stochastic conception, the real-world behavior of the agent
differs heavily from simulation world.
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Chapter 2
LITERATURE REVIEW
“Path finding bot using ESP32” has been designed and developed to create an
autonomous robot which intelligently detects the obstacle in its path and navigates
according to the actions that user set for it. So this system provides an alternate way to
the existing system by replacing skilled labor with robotic machinery, which in turn can
handle more patients in less time with better accuracy and a lower per capita cost.
Unique approach to pathfinding robot utilizing the ESP32 Microcontroller involves the
integration of advanced sensor technologies and machine learning alogoriths. By
combineing the ESP32 processing power with specialized sensor like LIDAR or depth
camera the robot can crate detailed environmental mapsa in real timr these maps are the
used to dynamically adaptthe robot’s path basd on obstacles, terrain variation, and even
changes in the environment.
“Path finding Robotic Vehicle Using Esp32 cam, Android and Bluetooth for Obstacle
Detection” has been designed and developed by Vaghela et.al has mentioned that
enormous amount of work has been done on wireless gesture controlling of robots.
Various methodologies have been analyzed and reviewed with their merits and demerits
under various operational and functional strategies. Thus, it can be concluded that
features like user friendly interface, light weight and portability of android OS based
smart phone has overtaken the sophistication of technologies like programmable glove,
static cameras etc., making them obsolete. Although recent researches in this field have
made wireless gesture controlling a ubiquitous phenomenon, it needs to acquire more
focus in relevant areas of applications like home appliances, wheelchairs, artificial
nurses, table top screens etc. in a collaborative manner.
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Chapter 3
IDEATION
After getting to know the user and his activities, the next step was to know the workers
problems. But to do that we had to come up with possible contexts, situations and
locations. Because only after discussing the various possibilities, of how several
activities need to be done.
Engineering is after all about helping people through technological solutions, making
processes simpler and less cumbersome. We thought about how workers had to take
care in different working conditions. Then arrived the next portion of finding possible
solutions. Here we had to list all the ways in which the problems of workers could be
solved.
Second task was to create “The Ideation Canvas”. We described activities of people
and situations or locations where they are facing problems. This canvas is very helpful
to reach near our goal. This canvas helped us to know that the area which needs focus.
3.1 People



Common people
Phiysically Challenged people
Workers
 Healthcare Professionals 
3.2 Activities

Bomb detection

Drainage treatment

Military drill

Evacuation after building collapse
3.3 Situation/Context/Location
• Easy to implement
• Natural disaster
• Space exploration
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• Waste management
• Mining inspection
• Military operations
3.4 Props
•
Sonar sensor
•
Servo motor
•
Castor wheel
•
DC motor
Figure 1:Ideation Canvas
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Chapter 4
EMPATHY CANVAS
Understanding the problem of society is one of the biggest challenges for engineering
student as till now they were making project on imaginary ideas. So, this canvas was
based on understanding the domains of the problem in broader sense which emphasized
on interacting with the people of our domain area which included more of casual talk
rather than technical session. It focused on making people comfortable in discussing
their problem with us. And this activity was named as Story boarding canvassing.
To define any User centric problem, we need to know the user properly. That was what
this canvas was all about. We thought of so many workers about wireless monitoring
but wanted to go for some workers that mostly remain untouched by technology but
are larger in number. They cover a large mass but are least touched with technology.
After that the next portion was stakeholders, who are the workers that directly or
indirectly make an impact. After thinking we got so some names.
“Activities” was the next portion, in which we had to include the activities that we had
done to obtain information about the topic.
Last and the most interesting part was the “Story Boards” which can be called the board
of emotions. It helped us understand the feeling of the worker when he works in a
particular situation in a workshop, that when we build anything for anyone, the purpose
and emotion behind that are equally important. So many stories were striking to our
minds related to the four-hacksaw blade and we drafted the given four. As we were
focused on people’s emotion, we wrote happy and sad story.
Journey of the Project: There is huge change in thinking of a problem. Designing really
helps to find a way to concentrate on the actual requirement of the user.
Revalidation and redesign blocks help to reach the require satisfaction of the user.
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4.1 Storyboarding
•
HAPPY: Robot named Robi , the path finding robot , brought efficiency and joy
to all office complex its precise navigator and friendly demonstrator united the
employee, fostering productivity , Robi’s success inspired and showed the
potential of human and robot working together for bright future
•
HAPPY: pank , a path finding robot , brought job and support to elderly resident
in a village, with companionship and assistance , it improved their well being
•
SAD: R-900, path finding robot , surfaced a technical issue in a warehouse
dumping inventory and causing frustration among the workers ,failed attempts at
report led to losses and disappoint
•
SAD: Altas , a path finding robot ,during a disaster winding and rescue efforts ,the
city’ hope. Turned out to disappointment as the once promising robot became a
libelity. The incident highlighted the importance of human independence and
resilience,
4.2 User

Common People

Researchers

Employees
4.3 Activities
We have gathered information based on our topic from the internet. Then we have also
taken guidance from our faculty members on our topic. Then we have collected material
related to our topic. Then we have started our work based on the topic.
4.4 Stakeholders

Industries

Defence

Colleges
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Figure 2:Empathy Canvas
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Chapter 5
AEIOU CANVAS
(ACTIVITIES, ENVIRONMENT, INTERACTIONS, OBJECTS, USERS)
5.1 ACTIVITIES
•
Navigation
•
Object Manipulation
•
Inspection
•
Enu Monitoring
•
Data Collection analysis
5.2 Environment
•
Indoor and Outdoor
•
Mapping
•
Dynamic Element
•
Obstacle
5.3 INTERACTIONS
•
Human – Robot
•
Object
•
Obstacle
•
Safety
•
Mechanist
•
Adaptivity
5.4 OBJECTS
•
US sensor
•
Sensor
•
Depth sensor
•
Path finding
•
Room
•
Tracking
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5.5 USERS
•
Idustrial operators
•
Warehouse
•
Facility manager
•
General users
•
Health care
•
Command and control
Figure 3:AEIOU Canvas
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Chapter 6
PRODUCT DEVELOPMENT CANVAS
Now arrived at the core part of the design process. We had to design a product based
on a key solution. A key solution according to our understanding was a solution which
solved a key problem. Out of the many possible solutions for multiple problems that
we listed down in the Ideation phase, we recognized some problems that if solved
would be very emotionally rewarding to the worker.
This canvas is about the solution to be developed. What is the purpose? Who is the
user? What are the features? What are the functions? What are the components?
These all things are pointed in this.
6.1 Purpose
•
Automation
•
Problem solving
•
Innovation
•
Learning
•
Market
•
Opportunity
6.2 Product Function
•
Autonomous navigation
•
Obstacle detection
•
Motor control
•
User interaction
•
Path finding algorithm
6.3 Product Feature
•
Path finding
•
compact
•
programibility
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•
Rebuilt design
•
expandability
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6.4 Components
•
Motor Driver
•
Servo motor
•
Sonar sensor
•
Arduino shield
•
DC motor
•
Castor wheel.
6.5 Customer Revalidation
•
Reliable
•
Easy to use
•
Low compatibility
•
Needs improvement in movement
•
Needs rechargeable battery
6.6 Reject / Retain / Redesign
•
Installation of rechargeable battery
•
Fixing movement
•
More accurate design model
•
Attached castor wheel.
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Figure 4:PDC Canvas
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Chapter 7
Mind mapping
Figure 5: Mind map
7.1 Application
•
Mobile robot navigation system
•
In automatic vaccum cleaning.
•
Dangerous environments, where human penetration can be fatal
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Chapter 8
L.N.M MATRIX
8.1 Design Specification


RC controlled
Dexterity
8.2 Theories Involved

An intelligent device which uses radio waves as a signal for control
information.
8.3 Software/ Tools/Skills required



Programming
Esp32 cam
Servo motor
8.4 Component material/strength criteria



Servo motor
Esp32 cam
Arduino board [uno]
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Figure 6 LNM matrix
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Chapter 9
PROTOTYPE
An RC car prototype that utilizes Arduino and an ESP32-CAM module offers an exciting blend of
remote control and visual feedback. Here's a breakdown of the key components and functionalities:
Hardware:

Microcontroller: Arduino (Uno, Nano, etc.) or ESP32 board

ESP32-CAM module: Integrates camera and ESP32 chip for Wi-Fi connectivity and
processingexpand_more

Motor Driver: L298N, DRV8833, or similar to control DC motors

DC Motors: Two geared DC motors for driving the car

Chassis: Pre-built robot chassis kit or custom design

Wheels: Two wheels for driving and two caster wheels for stability

Battery: Li-Po battery for power supply

Jumper Wires: For connecting components
Software:

Arduino IDE: For programming the Arduino or ESP32 board

Web Server Library (optional): For creating a web interface for control (ESP32 only)
Functionalities:

Remote Control: The Arduino/ESP32 receives commands from a remote control (via Bluetooth
or Wi-Fi) and translates them into motor control signals.expand_more

Camera Module: The ESP32-CAM module captures a live video stream of the car's
perspective.

Web Interface (ESP32 only): A web interface accessible through a web browser on your
smartphone or computer allows for remote control and live video streaming (requires a web
server library).
Benefits:

Live Video Streaming: See what the car "sees" while controlling it remotely.

Wi-Fi Connectivity (ESP32): Control the car from a larger range compared to Bluetooth.

Customizable: You can modify the code and hardware to add features like obstacle avoidance
or object tracking.
Getting Started:
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Here are some resources to get you started on building your own RC car prototype:

ESP32-CAM Remote Controlled Car Robot Web Server: https://randomnerdtutorials.com/
(This guide uses an ESP32 and provides code for web-based control)

ESP32 CAM Based RC Robot car with camera & video stream on Browser: [YouTube
video esp32 cam robot car] (This YouTube video showcases an ESP32-CAM based RC car with
video streaming)
Remember, this is a basic overview. These resources and a web search for "Arduino ESP32-CAM RC
Car" will provide more detailed instructions and code examples to bring your RC car prototype to life!
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Figure 7Prototype[a]
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Chapter 10
Advantages and disadvantages
10.1 Advantages
•
Helps in identifying the hidden dangers of the blind spots
•
Compact in size
•
Easy to use
•
Works with the better accuracy
10.2 Disadvantages
•
Autonomous navigation
•
Obstacle detection
•
Motor control
•
User interaction
•
Path finding algorithm
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FUTURE SCOPE OF PATH FINDING ROBOT
The future scope of path-finding robots is vast and holds tremendous potential in
various fields. Here are some potential areas where self-path-finding robots could
have a significant impact:
Warehousing and Logistics: path-finding robots can revolutionize the warehousing
and logistics industry by autonomously navigating through complex environments,
picking up and delivering items, and optimizing the movement of goods. They can
enhance efficiency, reduce labor costs, and improve the speed and accuracy of order
fulfillment.
Manufacturing and Assembly: path-finding robots can be deployed in manufacturing
plants to perform tasks such as material handling, assembly, and quality control.
These robots can navigate production lines, identify parts, and assemble products with
precision and speed, leading to increased productivity and cost savings.
Healthcare:path-finding robots can assist in healthcare settings by delivering
medication, supplies, and equipment to different departments or patient rooms. They
can also help transport medical waste safely, navigate hospital corridors, and provide
support to healthcare professionals, freeing up their time for more critical tasks.
Retail and Customer Service: path-finding robots can be employed in retail
environments to guide customers, provide product information, and offer personalized
recommendations. These robots can navigate store layouts, answer queries, and
enhance the overall shopping experience.
Security and Surveillance:path-finding robots can play a vital role in security and
surveillance applications. Equipped with sensors and cameras, they can autonomously
patrol areas, detect anomalies, and notify security personnel in case of potential
threats. These robots can monitor large areas continuously and reduce the need for
human security personnel.
Agriculture: path-finding robots can be used in agriculture for tasks such as planting,
irrigation, and harvesting. They can navigate fields, analyze crop health, apply
fertilizers or pesticides precisely, and optimize agricultural operations. These robots
can enhance crop yield, reduce labor requirements, and promote sustainable farming
practices.
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Search and Rescue: path-finding robots can assist in search and rescue missions
during natural disasters or other emergencies. They can navigate challenging terrains,
locate survivors, and relay information back to rescue teams. These robots can save
lives by accessing areas that are difficult or dangerous for humans to reach.
Exploration and Mapping: path-finding robots can explore uncharted territories, such
as underwater environments, caves, or other hazardous locations. They can map the
terrain, collect data, and provide valuable insights for scientific research,
environmental monitoring, or archaeological discoveries.
These are just a few examples of the potential future applications for self-path-finding
robots. As technology advances, the capabilities of these robots will likely continue to
expand, enabling them to perform increasingly complex tasks and contribute to
various industries and sectors.
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CONCLUTION
The RC controlled car project using an Arduino Atmega2050 and a camera module
presents a captivating opportunity to create a visually enhanced remote-controlled vehicle.
By combining the processing power of the Atmega2050 with the visual capabilities of the
camera module, you can construct a car that offers both maneuverability and a first-person
perspective.
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REFERENCES
[1] Amir attar, aadilansari, abhishek desai, shahid khan, dip ashrisonawale “line
follower and path finding bot using arduino” International Journal of Advanced
Computational Engineering and Networking, vol. 2, pp. 740-741, August 1987.
[2] Aniket D. Adhvaryu et al “Obstacle-avoiding robot with IR and PIR
motionSensors” IOP Conference Series: Materials Science and Engineering, vol.
A247, pp. 529-551, April 2005.
[3] Vaghela Ankit1, Patel Jigar2, Vaghela Savan3 “Path finding Robotic Vehicle
Using Esp32 cam, Android And Bluetooth For Obstacle Detection” International
Research Journal of Engineering and Technology (IRJET), vol. A247, pp. 29-32,
2005
[4] Paul Kinsky,Quan Zhou “Path finding Robot” Worcester polytechnic institute
[5] FaizaTabassum, SusmitaLopa, Muhammad MasudTarek& Dr. Bilkis Jamal
Ferdosi “path finding car”Global Journal of Researches in Engineering: HRobotics &
Nano-Tech.
[6] Bhagya shree S R , Manoj kollam “Zigbee Wireless Sensor Network For Better
Interactive Industrial Automation” , proc.of IEEE ICoAC2011,pp 304-308,2
[7] Ming Chang, Descriptive Geometry and Engineering Graphics 3 ed. Huazhong
University of Science and Technology press, 2004
[8] Kirti Bhagat, Sayali Deshmukh, Shraddha Dhonde, Sneha Ghag, “Path finding
Robot”, Bachelor of computer engineering, IJSETR, volume 5, issue 2, February
2016.
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