Abstract:

ABSTRACT
Line Following is one of the
most important aspects of
robotics. A Line Following
Robot
is an autonomous robot which is
able to follow either a black line
that is drawn on the
surface consisting of a
contrasting color. It is designed
to move automatically and
follow
the line. The robot uses arrays
of optical sensors to identify the
line, thus assisting the robot
to stay on the track. The array
of four sensor makes its
movement precise and flexible.
The
robot is driven by DC gear
motors to control the movement
of the wheels. The Arduino
Uno interface is used to perform
and implement algorithms to
control the speed of the
motors, steering the robot to
travel along the line
smoothly.This project aims to
implement
the algorithm and control the
movement of the robot by
proper tuning of the control
parameters and thus achieve
better performance.In addition
the LCD interface is added in
order to display the distance
travelled by the robot. It can be
used industrial automated
equipment carriers, small
household applications, tour
guides in museums and other
similar
applications, etc
Aims and Objectives:
The purpose of this project is to design a self-driving robot that detects and
locks the target and after that takes, a specific action in order to show its functioning.It will be consisting
of sensors that will enable it to detect the target.The objectives of this project will be:

 To make the robot in such a way that it can detect the target.
 Allow the robot to stop all of its movement and take certain action after locking the target.
 Targets that we will be using will be three different colors that are red, green and blue.
 The action that robot will take will be to switch on the light of the same color that has been
detected as the target.
 Allow the robot to change direction after moving some steps in one direction.

Introduction:
Surveillance and target acquisition is a military role assigned to units and/or their
equipment. It involves watching an area to see what changes (surveillance) and then the acquisition of
targets based on that information. ISTAR stands for intelligence, surveillance, target acquisition, and
reconnaissance. In its macroscopic sense, ISTAR is a practice that links several battlefield functions
together to assist a combat force in employing its sensors and managing the information they gather.

Information is collected on the battlefield through systematic observation by deployed soldiers and a
variety of electronic sensors. Surveillance, target acquisition and reconnaissance are methods of
obtaining this information. The information is then passed to intelligence personnel for analysis, and
then to the commander and his staff for the formulation of battle plans. Intelligence is processed
information that is relevant and contributes to an understanding of the ground, and of enemy
dispositions and intents.

ISTAR is the process of integrating the intelligence process with surveillance, target acquisition and
reconnaissance tasks in order to improve a commander’s situational awareness and consequently their
decision making. The inclusion of the "I" is important as it recognizes the importance of taking the
information from all the sensors and processing it into useful knowledge.

Components:
Following are the components that we have used in our project:

 Arduino uno
 IR SENSOR
 DC motors
 Jumper wires
 Toy tires
 Batteries(for power supply)
 Bread board
 Triple H bridge

Arduino uno:

Color sensor:

Jumper Wires:
Circuit Diagram:

H-bridge Motor Driver:

 Circuit Diagram:

Code:
#include <AFMotor.h>
#define lefts A4
#define rights A5
AF_DCMotor motor1(3, MOTOR12_8KHZ);
AF_DCMotor motor2(4, MOTOR12_8KHZ);
void setup() {

motor1.setSpeed(200);
motor2.setSpeed(200);

pinMode(lefts,INPUT);
pinMode(rights,INPUT);

Serial.begin(9600);

void loop(){

Serial.println(analogRead(lefts));
Serial.println(analogRead(rights));
//no black line further
if(analogRead(lefts)<=300 && analogRead(rights)<=300){
//stop
motor1.run(RELEASE);
motor2.run(RELEASE);

}
//line detected by left sensor
else if(analogRead(lefts)<=300 && !analogRead(rights)<=300){
//turn right
motor1.run(BACKWARD);
motor2.run(FORWARD);
/*
motor1.run(RELEASE);
motor2.run(FORWARD);
*/
}
//line detected by right sensor
else if(!analogRead(lefts)<=300 && analogRead(rights)<=300){
//turn left
motor1.run(FORWARD);
motor2.run(BACKWARD);
/*
motor1.run(FORWARD);
motor2.run(RELEASE);
*/
}
//black line detected by both
else if(!analogRead(lefts)<=300 && !analogRead(rights)<=300){
//moving forward
motor1.run(FORWARD);
motor2.run(FORWARD);
 }}

Working:
The robot works in such a way that when it gets the power its wheels start rotating and
it keeps on moving in a straight line. When the target comes into sight and it approaches the target, it
stops its motion and as an indication of the action it turn on the LED of the same color of which the
object is made of.Three types of targets can be detected with the help of this robot that are having
colors as:

 Red
 Green
 Blue
When the red colored object is detected red color is turned on. Similarly when green colored
object is detected, green color is turned on. When blue colored object is detected yellow color is
turned on. The programs of above two circuits have been merged and used collectively as a
single program.

Objectives achieved:
We have been successful in making the robot able to sense the target and take
the desired action after the target has been locked. We have also been able to make the robot move
and stop all the movement when the target has been detected. Three different colors (targets) have also
successfully been detected. Taking different action for different color has also been been.

Limitations:
Rest of all the objectives have been achieved successfully except the robot was
supposed to move randomly in different directions but our robot is not able to change its direction
because we have made the program for our robot by merging two programs together. A common pin
was used in both the programs so we were not able to perform all the operations because of this
limitation.

Results:
Our robot is able to detect three different targets and stop its movement and take three
different actions according to the type of the target that has been detected.
Conclusion:
In a practical sense, the term surveillance is taken to mean the act of observation from
a distance, and security robots are commonly used to protect and safeguard a location, some valuable
assets, or personal against danger, damage, loss, and crime. Surveillance is a proactive operation, while
security robots are a defensive operation. The construction of each type of robot is similar in nature with
a mobility component, sensor payload, communication system, and an operator control station.

Future Recommendations:
The ability of the robot to detect the target can be increased and its
range of operation can be enhanced as well. The robot can also be voice controlled and it can also avoid
the obstacles by using different sensors. The robot should be made able to change its direction as well
with some move advanced programs.

https://www.researchgate.net/publication/327814718_PROJECT_REPORT_LINE_FOLLOWING_ROBOT