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Line follower is a machine that can follow a path. The path can be
visible like a black line on a white surface (or vice-versa) or it can be
invisible like a magnetic field.
Why build a line follower?
Sensing a line and manoeuvring the robot to stay on course, while
constantly correcting wrong moves using feedback mechanism
forms a simple yet effective closed loop system. As a programmer
you get an opportunity to teach the robot how to follow the line
thus giving it a human-like property of responding to stimuli.
Sensor systems
Data input systems; Data capture information of outside world
Microcontroller
Systems to interpret input signals and take action
Drive systems
Output systems of the machine; Motor driver circuit implements the
signals from the motor controller
Motor 1
Sensor
Micro
Controller
Sensor
Motor 2
Photo resistors
Phototransistors
Photodiodes
Resistance is inversely
proportional to the light levels
Cheapest of the three types of
photoconductive devices
Have the slowest reaction rate
of all photo detectors
OP AMPS
+Vcc
Vout
-Vcc
Algorithm
Programmable logic device
Microcontroller
Straight
Left
Centre
Right
Relatively inexpensive
Can easily implement finite state automata
Has limited program capacity
Has limited program capabilities
DC motor
Stepper motor
Servo motor
Expensive
Require special circuitry to implement
Provide no feedback regarding motor
speed or position
Affordable
Will be run continuously
Does not need advanced features of servo
Design Considerations
1. Weight
2. Moment of inertia about central axis.
3. Height of center of mass
Chassis
Sensors