What is a line follower?

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.

Practical applications of a line follower : Automated cars running

on roads with embedded magnets; guidance system for industrial
robots moving on shop floor etc.

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

Current is sourced in the

presence of light
Moderately priced
Response about 1000 times
faster than photo resistors
Cost less than photodiodes
Have better reaction time than
Photo resistors

Current is sourced in the

presence of light
Most expensive class of
photoconductors
Respond about 1000 times
faster than photo resistors

OP AMPS
+Vcc

Vout

-Vcc

Algorithm
Programmable logic device
Microcontroller

Robot direction is determined by what the

robot sees

If line is centered in front of robot, go forward

If line is left of center, turn left
If line is right of center, turn right
If no line is detected, circle until line is found

Straight

Left

Centre

Right

 When nodes are encountered

Relatively inexpensive
Can easily implement finite state automata
Has limited program capacity
Has limited program capabilities

Costlier than PLD

Relatively easy to program
Memory can be expanded, if needed
Arduino UNO or Arduino Duemilanove are
microcontroller boards based on Atmega 328
can be used

Use Pulse Width Modulation Change

the duration of the time for which
the signal is high, in a given time
period.

DC motor
Stepper motor
Servo motor

 Abundant and cheap

Easy to implement
Provides no feedback regarding
motor speed or position

 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

Motor Driver Pin Diagram

Design Considerations
1. Weight
2. Moment of inertia about central axis.
3. Height of center of mass

Chassis

A common line follower robot follows a single

path
In grid follower, many junctions are created due
to number of continuous horizontal and vertical
lines crossing one another
So, two sensors fitted on the side of middle
sensors

Sensors

5 sensors are used

3 sensors will be primarily used for line
following
The other two sensors would be used
for detection of the intersections or
nodes i.e. points where two lines
intersect perpendicularly.

Sensor 1:- extreme left

Sensor 2:- left sensor
Sensor 3:- center sensor
Sensor 4:- right sensor
Sensor 5:- extreme right
Sensor on white surface = high output
Sensor on black surface = low output
The middle three sensors are placed at a gap
of 15 mm from each other while the extreme
sensors 1 and 5 are at a distance of 20 mm
from sensor 2 and 4 respectively.

At the junction, two side sensors sense it

These sensors sends
feedback signal to microcontroller
Now microcontroller examine it and decide
where to turn according to program stored into
the memory of microcontroller

For better controls it is suggested to use

3 sensors for line following robot
100rpm motors should be used, which
suited ideally for our program. Motors
with higher rpm may cause problem as
the junction can be missed due to
speed.
A small amount of delay is included
after each turn of robot to prevent false
input to be taken by robot while
turning.