CHAPTER 4

TEST AND RESULT OF THE SYSTEM

The simulation and experimental results of the android controlled spy robot
system are described in this chapter. The control system is a remote mobile robotic
control using an android phone. In the design of the control circuit, there are Arduino
Uno, L298N motor driver and basic electronic components. Before constructing the
designed circuit, Arduino IDE and Proteus (ISIS) was used to simulate the mobile
robotic control system. And then, the designed circuit was constructed and tested
checking electronic errors. After Connecting with a PC, the system was tested and
troubleshooted to optimize results. The experimental results of the system are
presented with the different photographs. The following sections explain the tests and
results of the system in simulation and experiment cases.

4.1. Design and Implementation of Android-Controlled Spy Robot

The system design of wireless controlled robotic vehicle is shown in Fig. 4.1.
The system is designed to develop a remote controlled robotic system by using
Bluetooth communication. This robotic vehicle especially contains two main sections.
The first section is the transmission of Bluetooth wireless signal. The second section
is the receiving that Bluetooth wireless data from the vehicle.

Figure 4.1. Design of the Robotic Vehicle

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In this system, the android controller will send the command to the robot. In
these processes, there is a main part of wireless system configuration; Bluetooth
transmitting and receiving between the android controller and vehicle. There are some
need for communication between the android controller and vehicle. Bluetooth
wireless module HC06 is used for the Bluetooth communication between android
controller and robotic vehicle of this proposed system. In Arduino IDE, this serial
communication is implemented with the software serial library.
The robotic vehicle is four wheels vehicle with two front wheels and two rear
wheels. Each of two lateral side wheels of the vehicle has been coupled for vehicle’s
motion. As a differential drive, the vehicle can move forward, backward, move left,
right and stop completely with PWM technique which makes the mobile robot speed-
controlled. The motion command will be got from the android phone controller. In
Arduino IDE, these motions are implemented as sub functions in main program.
In order to avoid front obstacles, an ultrasonic sensor is used to get the front
obstacle sensing which is implemented in Arduino IDE. For the initialization of the
variables and constants of the program, it is implemented in Arduino IDE. Finally, the
main program is implemented as the system flowchart described in the previous
chapter.
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Figure 4.2. Design of the Android Phone Controller

In the implementation of the Android control application, MIT App Invertor is
used to design the graphical user interface of the application and program the control
actions. The proposed design of android phone controller is shown in Fig. 4.2. In the
Android control system, the user can control the direction of the robot as well as the
acceleration and deacceleration of the robot.

4.2. Simulation Results of Android-Controlled Mobile Robotic System

The simulation circuit of the control circuit includes four motors which control
the motion of the mobile robotic vehicle, one controller Arduino Uno, an ultrasonic
sensor for avoiding obstacles in the front of the vehicle and USART terminal like
serial communication between the android application and the Bluetooth device on
the vehicle as shown in Fig. 4.3.
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Figure 4.3. Simulation of the Robotic Vehicle in Proteus

The robotic motions and obstacle avoidance are simulated in Proteus as shown
in Fig. 4.4 and Fig. 4.5. In this simulation, the Proteus libraries of Arduino, L298N
motor driver, and ultrasonic sensor module are used. There are two buttons for the
ultrasonic sensor module to simulate that there is an obstacle or not. Virtual Terminal
is used to simulate the Bluetooth serial communication, and implemented to see the
typed control commands such as 0, 1, 2, 3, 4 and 5 with the check of “Echo Typed
Character”.
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Figure 4.4. Simulation Result of the Serial Communication between the Robot and
Android in Proteus
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Figure 4.5. Simulation Result of the Robot’s Obstacle Avoidance in Proteus

With the simulation in Proteus, the program flow of the robotic motion is
tested for implementing the control system in real time. In this system, Arduino IDE
is used to compile the Arduino program and produce hex file for Arduino controller in
Proteus.

4.3. Experimental Results of Android-Controlled Mobile Robotic System

For real-time Android controlled action, experimental tests are done as shown
in Fig. 4.6. In these experiments, Bluetooth of the Android phone has to be turned
“On” at first. After that, the Android application can be used to control the robotic
vehicle via Android.
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Figure 4.6. Experimental Result of the System

(a) Selection Step (b) Connecting Step

Figure 4.7. Communication Steps of the Bluetooth device with Android Phone
The steps of connection between Bluetooth on the robotic vehicle and Android
application are shown in Fig 4.7. The operation of the system is implemented as
follows.
The operation of the system is implemented as follows:
 Step 1: Open android application and power on the robot.
 Step 2: Connect the robot with the android via Bluetooth connectivity as
well as Wifi connectivity.
 Step 3: Send the control command (Left, Right, etc.) from the android
application to the robot while livestreaming the scene on the host android
application.
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 Step 4: Make a movement to the robot by the Arduino controller.

4.4. Summary
The simulation results of the control system using Proteus software are
explained in this chapter. Then the constructed real hardware of the system is tested.
The experimental results of the proposed circuit are then explained in this chapter.
The discussion, conclusion and recommendation will be described in the next chapter.