International Conference on Electrical, Electronics, and Optimization Techniques (ICEEOT) - 2016

Internet Controlled Robot

A Simple Approach

Rahman K. Fahmidur, Hossain M.A.Munaim, Sadiq M. Tanvir, Ahmad S. Sayem

1
Dept of Electrical, Electronics and Communication Engineering
Military Institute of Science and Technology (MIST)
Mirpur Cantonment, Dhaka, Bangladesh
Email: kenrahman22@gmail.com

Abstract— This paper describes an internet based robotic
system which can be used for surveillance purposes through
developing a flexible and user friendly mobile robot controllable
from anywhere using internet servers. An android controlled
mobile phone mirrored via internet server to control the robot
using Bluetooth as well as getting live video feed through the
application have been adopted in this control system. The central
focus of this work is to develop a cost efficient and user friendly
nature of the surveillance robot. There has been several
development in this field but with the increased use of
smartphones, this paper proposes the most convenient way of
having a surveillance robot. User can control the robot using the
video feed from the mobile camera by operating through an app
based on app inventor language. The secured server allows
complete access to the android interface mobile to regulate the
robot.
transferred in short time. Therefore, it was possible to control
and get feedback simultaneously [3]. In the present day,
Android and Arduino are used but the problems remain in
these systems as these robots require complex hardware and
sometimes even their own servers. Moreover, professional
skills are necessary to control these robots which is often
scarce at the end user level. In addition, these are not cost
efficient, specially, in a developing countries like Bangladesh
where robots are being used in a very limited scale.
Furthermore, in most cases feedback systems and robot
control systems are set in different software which is often
inconvenient and makes the system less efficient. We tried to
control robot over the internet to overcome the constraints
outlined above using two very easy to use versatile platforms:
Android and Arduino.

Keywords— Internet Based Robot Control, Personal Robot, II. OBJECTIVES

Mobility, User friendly, Bluetooth Control, Arduino.
The objectives of the research are to develop user friendly
cost effective web enabled control system of robot which
I. INTRODUCTION
would be useful for general and special uses in public domain.
With the expansion of internet, the data world is The specific objectives are:
expanding. However, human being cannot live on data alone
with real sense. So, the need to combine the world of data and 1. To control robot over the internet.
the physical world is ever increasing leading towards 2. Making a simple user friendly interface to control the robot.
upgradation of the data storage capacity day by day. One of 3. Having an integrated feedback system in the controlling
the results is Internet enabled robot that can be controlled over
software.
the internet with some kind of interface between the robot and
the controller system. There have been a lot of work III. METHODOLOGY
progressing on internet controlled robot. First of its kind used
Ethernet cables to control the robot. But it was inconvenient as A. Basic Features of the Components
to control robot with wire and applicable to limited distance
Arduino is an open-source platform developed in order to
only. So gradually it moved to wireless LAN control. But the
build electronics projects. It is a programmable circuit board
problem with wireless LAN control is its limited capacity to
consists of a microcontroller and other essentials and a piece
handle data and range [1]. To remove this shortcoming the use
of software, or Integrated Development Environment (IDE)
of cellular GSM module to communicate with the robot was
that runs on computers and is used to write and upload
introduced [2]. It was convenient because of the wireless
computer code [5]. It is based on ATmega328 microcontroller
system enable to function in range as long as there was
which has 14 digital input/output pins, 6 pulse with
cellular network. However, cellular module cannot transfer the
modulation (PWM) pins, 6 analog inputs, a 16 MHz crystal
big data set instantaneously. Therefore, controlling the robot
oscillator, a USB connection, a power jack, an ICSP header,
and handling data simultaneously was not possible smoothly
and a reset button [6]. An Arduino Uno is shown in Fig. 1
that posed big constraints in using this system. In the
which is used in this system.
meantime, 3G mobile technology was introduced that made a
big difference in controlling robot compared to its
predecessors. With 3G, large amount of data can be

978-1-4673-9939-5/16/$31.00 ©2016 IEEE

 Fig. 1: Configuration of Arduino Uno. Fig. 3: Mobizen from PC.

HC-05 is a Bluetooth Serial Port Protocol (SPP) module

designed for transparent wireless serial connection setup.
Serial port Bluetooth module is fully qualified Bluetooth V2.0
plus Enhanced Data Rate (EDR) 3Mbps Modulation with
complete 2.4GHz radio transceiver and baseband. A HC-05
Bluetooth module is shown in Fig. 2 [7].

Fig. 2: Configuration of HC-05 Bluetooth Module.

Mobizen allows to use mobile phone easily from PC. It can

connect to Mobizen via USB, Wi-Fi, 3G or LTE on PC, Mac,
iPad or Tablet. It facilitates to connect mobile devices with
various networks. Real time mirroring on PC is supported. It
can seamlessly continue gameplay and use of all other Fig. 4: Mobizen App in Android.
Android apps at full functionality on PC [8]. A simple
demonstration of Mobizen app is given in Figs. 3, 4 and 5,
sequentially.
 The entire connectivity of the robot is shown Fig.7 where
symbols are explained in notes.
(Notes: AF = Adafruit Motor Shield; AD = Android Device;
AR = Arduino Uno; HC = HC-05 Bluetooth Module; SM =
Servo Motor; DM = Dc Motor)

Fig. 5: Using Mobizen Android phone screen

is mirrored.

Adafruit motor shield is developed motor controller board

which can control 4 DC motors, 2 SERVO and Stepper
motors. It uses 3 L293D motor driver IC as shown in Fig. 6.

Fig. 8: IP Webcam is launched in Android.

Fig. 6: Mounted Shield on Arduino.

Fig. 9: Fellout4 giving live video feed

Fig. 7: Connectivity of the Robot. and connected HC-05.
 Fellout4 is an android app developed this research in order
to serially communicate with Arduino through Bluetooth
connection. It also gives video feed by using the android
device’s camera. IP Webcam is an android app that allows us
to connect android phone camera wirelessly using Wi-Fi or
internet connection. In Fig. 8 and Fig. 9 fellout4 and IP
webcam is demonstrated.

B. Working Procedure

The algorithm of the program used to control the system using

Arduino are explained in Fig. 10. It was a simple algorithm
where the Arduino got command from the app and moved
accordingly. ‘Mobizen’ is used in order to mirror the android
device. To connect android with PC the android app
‘Mobizen’ in android device was turned on first. Then from
any PC browser using the web address
(https://www.mobizen.com), the ‘Mobizen’ account can be
logged in. After the connection is completed, an screen of the
Android device would appeared on PC and the user can be
able to use the Android device from PC.
After mirroring the Android device, it need to open “IP
Webcam” which is a network camera app. IP Webcam
provides IP address to connect with it .Then it can keep open
at the background and “Fellout4” app is opened. Inside the
app there is a browser where the IP address of the “IP
Webcam” and connect with it are kept. Then the android Fig. 11: Working procedure of the Control system
device with “HC-05” is coupled which is a Bluetooth. Once
both devices were paired then with the help of “Fellout4” the
robot can be controlled. Arduino Uno was used as the
microcontroller of the robot. The entire working sequence to
control the robot is explained in Fig. 11.
IV. RESULTS ANDDISCUSSIONS

Using the method explained above we were able to control the

robot over the internet. Since the control required only small
data, it was very smooth. The app on android also had an
integrated video feedback system. So it was convenient to see
robots location remotely and control it accordingly. But we
faced some issues with the video feedback. Since video
feedback consists of a lot of data, its smoothness varied with
internet speed and video quality. Using the SERVO, we were
able to get a 180 degree view around the robot. With Mobizen
we were able to gain access to the Android systems GPS. So
we were also able to locate the robot accurately as shown in
Fig. 12.
With “Fellout4” we were able to control a SERVO with which
our android phone was attached and the motors of the robot. It
allows us to rotate the android device in order to get 360o view
of the place where the robot is.

Fig. 10: Algorithm of the program developed in the

control system.

Fig.12 Apps for locating the Robot remotely.
V. CONCLUSIONS AND RECOMMENDATIONS
It was possible to control the robot over the internet in a very
cost efficient and user friendly way. This method can be used
for any robot with Bluetooth communication system. It can be
used for following purposes:
1. Rescue scouting: The robot can be used in any disaster case
for scouting of distressed areas. It can supply live video feed
going to places inaccessible for larger mechanical devices or
human.
2. Military Spy bot: The robot can be used for spying and
surveying reported places especially in Warfield. This can be
used for live feed from any region needed to be looked out for.
3. Home Assistant: This mini robot can be used as a home
assistant. Working mother and father can look after their
children at home from outside. This can also be used for home
security cases as well.
4. Surveillance Robot: The Robot can be used by all the
offices, markets and banks for their surveillance in specific
positions as it is mobile in nature and has greater flexibility
than security cameras.
Further saying, the effectiveness of the robot lies in its
flexibility and it can be used as a personal robot for all kinds
of robot. Having a simple interface and easy control it can be
used from personal level to commercial spaces without a
problem. In the next steps, we would like to increase the
mechanical capabilities of our robot and to test this system on
Aerial drone.
Acknowledgment
This project was basically made to compete in an Inter
University Project Show, organized by EEE, BUET. IEEE was
sponsor of this event. This project had gotten a second runner
up prize. It was appreciated by everyone which led us to write
this paper.
References
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[4] M. Young, The Technical Writer’s Handbook. Mill Valley, CA:
University Science, 1989.
[5] https://learn.sparkfun.com/tutorials/what-is-an-arduino
[6] https://store.arduino.cc/product/GBX00066
[7] http://wiki.iteadstudio.com/Serial_Port_Bluetooth_Module_
(Master/Slave)_:_HC-05
[8] http://download.cnet.com/Mobizen-PC/3000-18511_4-
76199799.html