Proceedings of the IEEE 2017 International Conference on Computing Methodologies and Communication
(ICCMC)
Design and implementation of RGB color line
following robot
GADHVI SONAL
Research Scholar
Electronics and Communication Electronics and Communication
Parul University
Vadodara-India
Abstract: This paper describes design and implementation of
RGB color line following robot. The robot can differentiate
among this three colors and according to given instruction it will
follow the three different color lane. unlike any other simple line
follower robot having the ability to detect the presence of obstacle
on its path. The color sensor system is built in using colored LED
and LDR as main component. The robot is capable of following
very congested curves as it receives the continuous data from the
sensors. This robot avoids collision and moreover it can detect
collision with obstacle sensor.
Keywords: line follower, RGB,LED,LDR
I. INTRODUCTION
Line follower robots are one type of mobile robot having
ability to follow a line very accurately which have an onboard
hardwired control circuit [8],[9] and [1].The line follower
robot has great importance in industrial manufacturing
process, automation, carrying cartage in a specific direction
etc. The transportation of goods and mobilization in industries
and other offices still are operated manually. The drawback of
the system is it cannot move from one position to other
independently and one person is required to operate system. as
the system is driven by any operator cancels of mistakes. as
the system is operated by the operator there are many chances
of negligence in operation of vehicle and more in process of
assembly line in industry. therefore mitigating these weakness
the available solution used is automated system such as
automated guided vehicle. its one example is line follower
robot. For the transportation needs in the industries, the robot
must have the abilities to move from one place to another and
required destination by following different routes.[2] By using
it, the student will try to learn the current trends in automation
technology which is related to the use of mechanical,
electronic, control, and computer-based
programming.[3].These unpleasant boredom and tiring j obs
can be easily performed by this
proposed robot as the robot is untiring, obedient and useful in
these routine j obs for industries [10-11] . Practical
applications of a line follower include automated cars running
on roads with embedded magnets and guidance system for
industrial robots moving on shop floors etc [6,15]
In this research we propose a line-follower robot system that
will be able to recognize some kind of colors and in this case
the basic colors Red, Green and Blue (RGB) as being the
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PUNIT RANINGA HARDIK PATEL
Assistant Professor Assistant Professor
Electronics and Communication
Parul University Parul University
Vadodara-India Vadodara-India
system guidance, and and wireless communication using
RFID as inputs from the transmitter as remote to determine the
prioritized color in the system when the system is
activated.[2[The system will be built using the dsPIC16F877A
microcontroller as the center of the process and color sensor
system using three red, blue and green colored LEDs.
1.Sensors : Two types of sensors are used in robots for
gathering the necessary information. This sensors are line
sensor and the IR obstacle sensor.
1.1 Line Sensor An infrared emitter is an LED which is made
up from gallium arsenide. this emits infrared energy of about
880nm. which emits near infrared energy at about 880nm. The
IR is a phototransistor which acts as a transistor and the base
voltage is determined by the amount of light fall on the
transistor.therefore.it will act as a variable current source.
Current flow as high amoumt as more no. of IR light in
collector emmiter. this phototransistor is wired same as the
configuration in the voltage divider. in the pull up resistor
voltage drop occurs due to the variable current which travels
through the resistor. This voltage is output of the device.
This IR reflectant sensor contain matched transmitter and
receiver pair. it works as the by measuring the more no. of
light falls on the receiver. This receiver is responding to
ambient light and device works good when well covered
from ambient light and the small distance between the sensor
and the reflective surface. this sensors are also used to detect
white and black surfaces. The White surfaces usually reflect
good and black surface will reflect poorly. the other colors
will be having voltage drops in between white and black color.
The sensor is said to be good if it can differentiate different
colors when the separation between the two colors is too
small. An logical equation is developed to find to extract color
information and building the line follower robot. For the
reducing the ambient light interference line sensors will be
placed in a bounded region in where there is no ambetient line
interference takes place.
3.2 Obstacle Sensor The IR sensor is used for detection of the
presence of an obstacle. This sensor will be consisting of the
IR transmitter and receiver. In it will be an LED which will
emit light on an robot and if there is presence of obstacle in a
robot which will be blocking its line than the receiver will pick
up the reflected light and will produce logic 1 which will
force the robot to stop.if its not there than the output will be 0.
442
 Proceedings of the IEEE 2017 International Conference on Computing Methodologies and Communication
(ICCMC)

II. RGB COLOR DTECTION AND COLOR SENSOR
DESIGN
The idea an color sensor is constructed by using light
dependent resistor (LDR) and three color LEDs namely red
LED ,blue LED , green LED. so, these will be the three
different color led’s .if were shining a red light on the green
and red object, the red object will reflect more light to the
sensor than the green object to the LDR sensor. the brightest
color that will be detected by the LDR sensor will be the red
color.
The definition of the LDR sensor is that it is being used for
determining the lux levels from the LEDS that will be
reflected from the object. the LDR is a resistor. the LDR
change its value that is resistive will be converted into ohms
.this converted value is dependent on the value of the lux of
the reflected from the light of LED on the surface of the object
received.
Figure1:color sensor construction
In the figure we can see the ldr color system design. In it
the three different color LEDS which are red , blue and green
are being enclosed in the reflective Material which is made p
of shining zinc is used to get as much as light that will be
reflected from it to the LDR. the next figure shown below is
the circuit of the ldr.
addition of it three different variable resistor is added in this
circuit .this is done for brightness calibration. this will give us
the desired luminous on the output level.[2]
Figure 3:Block Diagram of LFR
III. MICROCONTROLLER CODING
METHODOLOGY
Microcontroller only understands 0 and 1. Here 1 means any
nonzero value.[4] Whenever the LDR sensor receives the
different intensities of light , it makes a path for current to pass
and hence the ADC module gets some digital number for the
analog signal. This digital number is used as the operating
principal for the MCU coding.The microcontroller sends
instructions to the driver after processing the data received
from sensors. [10]. There are a lot of programmers and we
must use a programmer which can support our
microcontroller. [7,13] and [14]. At the transmitter we’ve used
PIC microcontroller and at receiver dsPIC microcontroller is
used. The program is written with language C in MPLAB IDE
.Main program is given below:
Transmitter:
int main(void)
{
//************ Initlization ********************
IO_INITLIZATION();
// Input Output Configuration
InitTimer1();
InitUART();
Init_LCD();

// -=-=- Welcome LCD Message -=-=-=

strcpy(&disp_buffer[0], " Color System ");
strcpy(&disp_buffer[16]," TX ");
disp_val();

__delay_ms(3000);

Figure 2:LDR sensor circuit design //memset(&disp_buffer[0],' ',32);

For the better brightness of the led’s the high luminous strcpy(&disp_buffer[0], "R= Y= ");
strcpy(&disp_buffer[16],"B= ");
intensity led’s are used in this project. The motor driver
namely l293d will act as a switching device is connected to the
//--------------------------------------
led’s .the current value and the voltage value are being kept
while(1)
constant at the output of all the three different color led’s. in
{

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 Proceedings of the IEEE 2017 International Conference on Computing Methodologies and Communication
(ICCMC)

CheckKeyboard(); }
else
disp_val(); {
} RELAY2=0;
} }
}
Receiver: else if(SelectColor==G_COLOR)
int main(void) {
{ if(G_Color1>100)
//************ Initlization ******************** {
IO_INITLIZATION(); RELAY1=1;
// Input Output Configuration }
InitUART1(); else
InitUART2(); {
InitTimer1(); RELAY1=0;
Init_LCD(); }

// -=-=- Welcome LCD Message -=-=-= if(G_Color2>100)

strcpy((char*)&disp_buffer[0], "Multicolor "); {
strcpy((char*)&disp_buffer[16],"Follower Robot "); RELAY2=1;
disp_val(); }
else
for(i=0;i<50;i++) delay(60000); {
RELAY2=0;
//memset(&disp_buffer[0],' ',32); }
strcpy((char*)&disp_buffer[0], "S1= "); }
strcpy((char*)&disp_buffer[16],"S2= "); else if(SelectColor==B_COLOR)
{
if(B_Color1>100)
while(1) {
{ RELAY1=1;
CheckKeyboard(); }
else
chartostr(R_Color1,&disp_buffer[3],3); {
chartostr(G_Color1,&disp_buffer[7],3); RELAY1=0;
chartostr(B_Color1,&disp_buffer[11],3); }

chartostr(R_Color2,&disp_buffer[19],3); if(B_Color2>100)
chartostr(G_Color2,&disp_buffer[23],3); {
chartostr(B_Color2,&disp_buffer[27],3); RELAY2=1;
}
if(StartSystem==1) else
{ {
if(SelectColor==R_COLOR) RELAY2=0;
{ }
if(R_Color1>100) }
{ }
RELAY1=1;
} disp_val();
else
{ for(i=0;i<10;i++) delay(60000);
RELAY1=0; }
} }

if(R_Color2>100)
{
1V.RESULTS
RELAY2=1;
COLOR SENSOR BLOCK TEST:

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 Proceedings of the IEEE 2017 International Conference on Computing Methodologies and Communication
(ICCMC)

Table 1:Color sensor block test

NO. Track color Sensor 1 Sensor 2

RED LED ON
1 Red 58 66
2 Green 21 33
3 Blue 10 17
GREEN LED ON

1 Red 9 13
2 Green 56 61
3 Blue 8 13
BLUE LED ON
1 Red 11 9
Fig 4. Transmitter(remote) line follower robot
2 Green 13 14
3 Blue 44 49
CONCLUSION
The decimal data from ADC with 0-1024 range is being used Robotic system designed in this research has been able to
in the color sensor detection results shown in the table1.the recognize input from the transmitter and prove theory of
system recognizes which path to follow based on the brightest theory of reflection of color light as theoretical basis of color
color reflection received by the sensor. The initial input is
received from the transmitter and then the system will color sensor system. we have introduced switches so that it
activate which color LED is to be used. The final hardware of can be easily operated. The robot is able to detect red, blue
the RGB line follower robot is shown in fig 3 and 4 and green color. Light calibration was challenging task. The
respectively.[2] system have optimum result of color line detection and
successfully move towards the lane with 0.082 m/s movement
speed.
ACKNOWLEDGMENT
I would like to express my deep gratitude to my teacher and
supervisor Prof. PUNIT RANINGA and Prof. HARDIK
PATEL for their continuous encouragement and guidance.
Their advices have value lasting much beyond this project. I
am indebted to them for the valuable time they had spared for
me during the work.
I am thankful to Prof. Anuradha GHARGE, Head of the
Department of Electronics & Communication Engineering
who had provided all the official facilities to me.
Last but not least I would like to thank my parents, who taught
me the value of hard work by their own example. They
rendered me enormous support being apart during the whole
Fig 3. Receiver line follower robot tenure of my study in PARUL UNIVERSITY, Vadodara.

When, the resistance of the LDR is high, the light level is low
this prevents the current flowing through circuit .This will
indicate that the voltage level increases. As given in sensor the
LED are connected in circular order around the LDR. One
terminal of each LED and LDR are connected together to act
as ground for sensor module. The LED’s glows according to
delay provided to each set i.e. First Red set of LED then
Green and then Blue . Intensity of light for each set of LED
given by the LDR in terms of voltage. By comparing value of
voltage level for each set color of object can be determined.
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 Proceedings of the IEEE 2017 International Conference on Computing Methodologies and Communication
(ICCMC)

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