This document describes the design of a color tracking robot project. It uses a webcam and image processing software to detect a target color on a human. An ultrasonic sensor helps avoid obstacles. A microcontroller controls DC motors and receives input from sensors. The robot can follow and carry loads for a soldier to lighten their burden. Future extensions could improve identification through face or body recognition and use IR cameras for better accuracy. The goal is a low-cost robot for applications like military transport or assistance for the elderly.

1. Sri Venkateswara Institute Of Technology (S.V.I.T.)
Department of Electronics and Communication Engineering 1
COLOR TRACKING ROBOT
SRI VENKATESWARA INSTITUTE OF TECHNOLOGY (S.V.I.T.)
HAMPAPURAM (V), RAPTHADU (M), ANANTAPUR – 515722
DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING
REVIEW REPORT-2
Project Associates:
K.Ajay Vikranth Reddy (109F1A04A4)
N.Sravana Lakshmi (109F1A0478)
G.Uday Kumar Reddy (109F1A04A1)
Y.Vani (109F1A0491)
M.Kanthudu (109F1A04B2)
Head of the department: Under the esteem guidance of:
N.A.V.Prasad, M.Tech T.Ranjitha Devi, M.Tech
Department of ECE Department of ECE

2. Sri Venkateswara Institute Of Technology (S.V.I.T.)
Department of Electronics and Communication Engineering 2
INDEX
1. ABSTRACT.
2. EXISITING DESIGN
3. PROPOSED DESIGN
a. Modules used in the project.
4. PROCEDURE AND METHODOLOGY.
5. APPLICATIONS.
6. FURTURE EXTENSIONS.

3. Sri Venkateswara Institute Of Technology (S.V.I.T.)
Department of Electronics and Communication Engineering 3
1. ABSTRACT:
Now a day’s war fare became hi-tech new technologies are introduced into military for both
defeating purpose directly and supporting purpose indirectly. In this manner we have also developing a
project called “COLOR TRACKING ROBOT”. The concentrated problem was an average military
soldier has to carry atleast 50kgs of materials like guns, amount, granites and so. To reduce weight of the
soldier will give time and efforts to him to more concentrate on enemy in war. To do that in our project
we are having a camera to detect the persons by his uniform and remaining process will be done by a
computer in a robot that observes position of a soldier and his movement continuously in the field and
give commands to robot microcontroller to follow as per his movements. Then a soldier can drop his
entry day load on robot make himself free. If he wants he can grab.
This work describes an autonomous robot for following the soldier in the war field using
image processing. The proposed system uses an ultrasonic sensor in order to detect the existence of
humans and also obstacles and a low cost camera in order to acquire a video of the scene as needed.
Additional, we are using a buzzer for the security of the robot if lost. Having detected a sign of an
obstacle, the ultrasonic sensor triggers the camera to show live scene. The video is then displayed on the
screen. This approach requires a relatively small number of data to be acquired and processed during the
operation. This way, the real-time cost of processing and data transmission is considerably reduced. This
system has the potential to achieve high performance in carrying the materials in the war field following
the soldier quickly and cost-effectively. The detection depending on a number of factors such as the body
position and the light intensity of the scene. Results show that the system provides an efficient way to
track and follow human being. The aim of this article is to improve the human following robot by using
the image processing as a tool for good efficiency and obstacle avoidance.GSM is used for sending the
message and GPS is used to finding the position of the robot.
2.BLOCK DIAGRAM OF EXISTING DESIGN:
Fig 2. Block diagram of Proposed design color tracking robot

4. Sri Venkateswara Institute Of Technology (S.V.I.T.)
Department of Electronics and Communication Engineering 4
Disadvantages:
1. Here image processing is not used
2. The cost of the project is very high.
3. It cannot avoid the obstacles in the path.
4. It does not have the security.
5. Here image processing is not used.
3. BLOCK DIAGRAM OF PROPOSED DESIGN:
Fig 2. Block diagram of Proposed design color tracking robot
Advantages:
1. The real-time cost of processing and data transmission is considerably reduced.
2. By using image processing in addition we can specify the color of the human to follow.
3. Ultra sonic sensors are added to detect obstacles in the path.
4. A buzzer is used for the security of the robot.
5. GSM and GPS are used for knowing the location of the robot
The cost of the system can be reduced to little bit. An Ultrasonic sensor can be used to avoid the
obstacles in the path of the robot. Buzzer is used for the security of the robot. GSM is used for sending a
message to operator and GPS is used for finding the place where it located.

5. Sri Venkateswara Institute Of Technology (S.V.I.T.)
Department of Electronics and Communication Engineering 5
Flowchart:
The Proposed Design Block Diagram Consists of:
Hardware:
1. Microcontroller –ATmega328P
2. Sensor.
3. DC motor.
4. DC motor driver.
5. Buzzer.
6. GSM & GPS.
7. Personal computer and Webcam.
a. Microcontroller (ATmega328P):
Features:
High Performance, Low Power Atmel 8-Bit Microcontroller Family.
Operational voltage :5V
Digital I/O pin :14
Analog input pin :6
Flash memory :32kb
SRAM :2kb
EEPROM :1kb
Clock speed :16Mhz

6. Sri Venkateswara Institute Of Technology (S.V.I.T.)
Department of Electronics and Communication Engineering 6
b. Ultrasonic sensor: The aim of this project is the robot has to follow human. This is an easy task
especially in the horizontal plane. To avoid the obstacles in the path of the robot we are using the Ultra
sonic sensor which avoid the obstacles and make the robot to go in the correct path.(figure1)
Features:
1. Range: 2 cm to 3 m (0.8 in to 3.3 yd)
2. Burst indicator LED shows sensor activity
3. Bidirectional TTL pulse interface on a single I/O pin can communicate with 5 V
4. TTL or 3.3 V CMOS microcontrollers
5. Input trigger: positive TTL pulse, 2 μs min, 5 μs type
6. Echo pulse: positive TTL pulse, 115 μs minimum to 18.5 ms maximum.
The above figure .1represents the Ultrasonic sensor.

7. Sri Venkateswara Institute Of Technology (S.V.I.T.)
Department of Electronics and Communication Engineering 7
c. DC motor: Motors take electrical energy and produce mechanical energy. Electric motors are used
to power hundreds of devices we use in everyday life. Motors come in various sizes. Huge motors that
can take loads of 1000’s of Horsepower are typically used in the industry. Some examples of large motor
applications include elevators, electric trains, hoists, and heavy metal rolling mills. Examples of small
motor applications include motors used in automobiles, robots, hand power tools and food blenders.
DC motor is used here to rotate the wheels of the robot.
The above figure represent the DC motor.
d. DC motor driver: In order to control the position of a DC motor, we must be able to change the
current direction to the motor. This can be accomplished by using DC motor driver. If transistors 1 Q and
3 Q are turned on, and 2 Q and 4 Q are off, current will flow through the motor in the direction shown and
the motor will rotate in one direction. If 2 Q and 4 Q are on, and 1 Q and 3 Q are off, the motor will rotate in
the other direction. By using these we can run the DC motor in any direction.

8. Sri Venkateswara Institute Of Technology (S.V.I.T.)
Department of Electronics and Communication Engineering 8
e.Buzzer: A buzzer is an audio signaling device which may be mechanical, electromechanical or
piezoelectric. Typical uses of buzzers and beepers include alarm devices, timers and conformation of user
input such as mouse click or keystroke. These are used for the security of the robot if any change in the
pixel then the sound is produced.
The above figure represents the Buzzer.
f. GSM and GPS: GSM is used for sending the message.GPS is used to finding the
position of the robot.
The above figure represents the GSM and GPS.
g. Personal computer and Webcam: Webcam or wireless camera is employed because it
captures the analog information and displays it in PC. This camera plays a key role capturing the
data. We are going to use an personal computer to analyze the pixels of the image and give the
command to the microcontroller.

9. Sri Venkateswara Institute Of Technology (S.V.I.T.)
Department of Electronics and Communication Engineering 9
Software:
1. Processing 1.2.1
Used for code compiling and writing.
2. WinVDIG
Used as a video bridge.
3. Quick Time
Used as a video analyzer.
4. PROCEDURE AND METHODOLOGY:
The goal of this project is to provide a low cost color tracking robot. Though, the existing Urban Search
and Rescue Robots are equipped with various sensors, but the problem with them is the cost. The sensors
used in the development of this project are easily available and cost effective. In this paper, a new
method for following humans using simulated autonomous robot using image processing is proposed.
The robot uses two levels of sensing in order to achieve higher cost-effectiveness in the detecting process
in terms of the actual cost of equipment, the processing cost, and the power cost. The first level image is
captured by the webcam of computer and it is analyzed by using processing software and there a color is
fixed for following the human by the robot. The second level is an ultrasonic sensor that is used as the
primary sensor in order to avoid the obstacles in the path.. The robot is equipped with a simple buzzer
Since the system developed is a low cost system therefore it has a wide future scope. Though many
systems with a wide range of sensors have been developed, but there are many problems faced by them
such as cost, size, environment difficulties etc.GSM and GPS is used to find the location of the
robot.
The future work would be improved by using the IR cameras for better accuracy and precision and
also and neural human algorithm is used for face detection and body shape detection.
5. APPLICATIONS:
1. In military applications for carrying the guns, granites and food material.
2. These are used in super markets for carrying the items without any human interference.
3. These are used for the aged walking.
6. FUTURE EXTENSIONS:
1. We can use face recognisition for better identification.
2. We can use also set body shape for better identification.
3. By adding IR cameras we can have accuracy and precision.