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SCHOOL OF ENGINEERING AND TECHNOLOGY

Project Work Report

On
“LINE FOLLOW ROBOT USING ARDUINO”

For the requirement of 3rdSemester MAKING WITH

ELECTRONICS, B.Tech In Computer Science and Engineering

Submitted By

THRISHA J C
(22BBTCS374)

Under the guidance of Faculty

Mr. VIJAY KUMAR

DEPARTMENT OF COMPUTER SCIENCE AND ENGINEERING

CMRUniversity
(Lakeside Campus)

OffHennur-Bagalur Main Road,

Near Kempegowda International Airport,
Chagalahatti,Bengaluru,Karnataka-562149

AcademicYear2023-2024
 SCHOOL OF ENGINEERING AND TECHNOLOGY
Chagalahatti,Bengaluru,Karnataka-562149

Department of Computer Science and Engineering

CERTIFICATE
Certified that the Project Work entitled “THRISHA J C” (20BBTCS374),benefit student of
SCHOOL OF ENGINEERING AND TECHNOLOGY, in partial fulfillment for the award of
BACHELOR OF TECHNOLOGY in Computer Science and Engineering of CMR
UNIVERSITY,MAKING WITH ELECTRONICS during the

academic year 2023 - 2024. It is certified that all corrections/suggestions indicated for the
Internal Assessment have been incorporated in the report. The project has been approved as it
satisfies the academic requirements in respect of project work prescribed for the said degree.

Signature of Course In-charge SignatureofHOD

…………………… ……………………
Dept. of CSE Dept.ofCSE
SOET,CMRU,Bangalore SoET,CMRU,Bangalore

Name oftheExaminers: Signature with Date:

1. …………………… ……………………

2. …………………… ……………………

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DECLARATION

We, THRISHA J C bearing USN 22BBTCS374 student of Bachelor of

Technology, Computer Science and Engineering, CMR University, Bengaluru,
hereby declare that the Project Work entitled “THRISHA J C” submitted by us, for
the award of the Bachelor‟s degree in Computer Science and Engineering to CMR
University is a record of bonfire work carried out independently by us under the
supervision andguidance of Dr.VIJAY KUMAR ,Associate Professor, Dept of
CSE.CMRUniversity.

We further declare that the work reported in this mini project work has not
been submitted and will not be submitted, either in part or in full, for the award of
any other degree inthisuniversityor any other institute or University.

Place: Bengaluru

Date: 06/02/2024 THRISHA J C[22BBTCS374]

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TABLE OF CONTENT

Table of Contents
................................................................................................................................................................. 1
Project Work Report ................................................................................................... 1
“LINE FOLLOW ROBOT USING ARDUINO” ................................................................................... 1
CMRUniversity........................................................................................................... 1
AcademicYear2023-2024 ........................................................................................... 1
DECLARATION .................................................................................................................................... 2
Application of Embedded Systems ........................................................................... 12
Programming Languages in Embedded Systems ..................................................... 13
What is a Microprocessor? ....................................................................................... 13
............................................................................................................................................................... 18
Why Arduino? ..................................................................................................................................... 18
What Does it Do?...................................................................................................... 20
What's on the board? ................................................................................................. 21
Power (USB / Barrel Jack) .................................................................................................................... 21
Pins (5V, 3.3V, GND, Analog, Digital, PWM, AREF) ........................................................................ 22
Reset Button .......................................................................................................................................... 22
Power LED Indicator ............................................................................................................................ 23
TX RX LEDs......................................................................................................................................... 23
Main IC ................................................................................................................................................. 23
Voltage Regulator ................................................................................................................................. 23
The Arduino Family ................................................................................................. 23
Arduino Uno (R3) ................................................................................................................................. 24
IR Sensor Working Principle ................................................................................. 26
BASIC MOTOR CONTROL AND RELAY LOGIC .............................................. 31
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 Abstract:

Arduino microcontroller using line follower robot is an auto driven vehicles. Line follower
robots are one type of mobile robot having ability to follow a line very accurately which have
an onboard hardwired control circuit. It is just follow the line under the robot vehicle. It
reduces the accident which is made by the drivers at factories (or) Industries. As a
consequence, a line follower robot is designed using artificial intelligence for autonomous
driving and to stay on the line . Several components are put together to ensure the proper
working of this design. It contains an Arduino board, motor shield, infrared IR sensor, DC
motors, battery and some connecting wires etc. Used for designing this line follower robot
vehicle. The Arduino board is responsible for the motion of robot vehicle. The DC motors are
controlled by the motor shield and the reflectance sensor is used to identify the line.
Nowadays it is useful and safety product for labour. Because, in factories the large raw
material packages are transported by vehicles are known as mini excavator trucks. These
trucks are not easy to drive. In that case we use these types of line follower robot vehicle it is
very useful. Like previous method this design procedure is capable of tracking destination
and avoids collision among each other through sensors. A mobile robot controlling algorithm
is developed having the ability of avoiding barriers. Not only in industries but also in a work
place to transport heavy files and documents and in hospitals for serving medicines for
patients and more. In this project line following robot has been designed using Arduino Uno
and Embedded Automation System.
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 Introduction
Robot is a machine that is usually designed to reduce the amount of human work where it is
applicable. It is usually developed for reducing risk factor for human work and increase
comfort of any worker. High performance, high accuracy, lower labour cost and the ability to
work in hazardous places have put robotics in an advantageous position over many other
such technologies. In this paper a line tracer or follower has been presented which will trace
a black line on a white surface or vice-versa . We have make use of sensors to achieve this
objective. The main component behind this robot is Arduino UNO microcontroller which is a
brain of this robot. The idea proposed in this paper is by using machine vision to guide the
robot We have made a robot that has several works to perform besides following a line. This
robot follows a line without going to other direction. The construction of the robot circuit is
easy and small. This can also be used in many applications such as automatic valet parking in
efficient way. The rapid increase in urban car ownership not only increases the burden of
urban traffic but also exacerbates the problem of insufficient parking spaces. The increased
driving distance in the parking process increases energy consumption and exacerbates
parking difficulties, which increasing the number of minor accidents, such as scuffing and
collisions.

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Capstone project scope document

 Problem Statement
Classical line following robot is slow response to the error occur will easily leave its track
that drawn on the floor. This problem will result the motion of the robot to be unsmooth and
sometimes robot tends to move out of the track. Although the line following robot can follow
the black line, its motion still needs to be improved, so to overcome that problem, we need a
better controller to make robot follow the line smoothly and make less error.

 Objectives
o The main objective of this project is to design a line follower robot using Robotic automation
technology. The objectives of this project are:
o To design and develop an autonomous robot that follows a black line drawn on the floor
while smoothing the tracking motion by using digital embedded automation System.
o To study the concept of infrared sensors, ADC converter, motor driver and Arduino UNO
microcontroller.
o To design and construct the platform of including follower robot, the Arduino UNO
microcontroller board, sensors and motor drive system.
o To design and implement the Robotic Automation into Arduino UNO microcontroller, and to
test and tune the Arduino UNO to achieve better performance.

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 Capstone project description

Line Following is one of the most important aspects of robotics. A Line Follower Robot is an
autonomous robot which is able to follow either a black or white line that is drawn on the
surface consisting of a contrasting colour. It is designed to move automatically and follow the
made plot line. Embedded control of line follower is designed using Robotic Automation
technology to improve the movement of the robot. The robot uses several sensors to
identify the line thus assisting the bot to stay on the track. The robot is driven by DC Motors
to control the movement of the wheels. The Arduino UNO Microcontroller will be used to
perform and implement Robotic Automation system to control the speed of the motors
steering the robot to travel along the line smoothly.

 Capstone project Deliverables

IR sensors are used for line following function will be designed and Arduino UNO board
used for Robotic automation Programming which control robotic movement efficiently.

 Key milestones

The main Key Milestones of this project aims to implement the Robotic automation system
and control the movement of the robot by proper tuning of the control parameters and thus
achieve better performance.

 Constraints
o Path of the line should be plane and obstacle free.
o It can‟t be implemented in non-electric device.
 Estimated Capstone project Duration
Project Duration for completion: 3 months (12weeks)

 Estimated Capstone project cost

Estimated Project Hardware Cost: RS.10000/-

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Capstone project Planning:

Work Breakdown Structure (WBS)

Line Following Robot

Level-1 Battery Operated Power Supply

Level- 2

LF Sensor -1 LF Sensor-2 LF Sensor -3

Arduino UNO Programming Level- 3

Level-4

Motor driver Motor Robotic Body Mechanism

 Work breaks down structure is in the figure.

 Battery Operated Power supply is designed at Level-1 stage.
 Line detection sensors are designed to track line at Level-2.
 Arduino uno board is assembled and programmed using embedded automation at level-3.
 Robotic body mechanism setup and motor driver and motor are designed at Level-4.
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Time-line Schedule
SI.NO Hardware /Software Duration
1 Designing of Battery Operated Power supply 1 week
2 Line Follow sensors designing and testing 3 weeks

3 Arduino UNO board Assembling, testing and Programming 3weeks

4 Robotic mechanism setup, Motor driver with motor 2 weeks

designing and testing
5 Correction and testing the complete project 1week
6 Result and Report Generation 2 weeks

Cost Breakdown Structure (CBS)

SI.NO Hardware /Software Duration

1 Designing of Battery-Operated Power supply 1500
2 Line Follow sensors designing and testing 1500

3 Arduino UNO board Assembling, testing and Programming 2000

4 Robotic mechanism setup, Motor driver with motor 3000

designing and testing
5 Correction and testing the complete project 1000
6 Result and Report Generation 1000

Risk Analysis
A risk analysis applied on a Line Following Robot which is developed using Robotic
automation system to read the sensors data and produces accurate outputs to control
motors efficiently.
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Identification of Methodology (Including Literature survey)

Methodology:

LF Sensor -1
Motor Driver
Board

LF Sensor -2

Arduino UNO Motor-1 Motor-2

Board
LF Sensor -3

Indication Unit
DC Power Supply

Basic design flow diagram of Line following robot is shown in the figure. It consists of Line
following (LF) sensors, Arduino UNO microcontroller, Motor driver board, Motors, Indication
unit and power supply. In this project three LF sensors are used (front side two sensor and
back side one sensor). LF Sensor the line colour and send the data to Arduino uno
Microcontroller. Depending on line detected Arduino UNO board control the Robotic
movements through the Motor driver circuit board. Indication unit is used to indicate Robot
status (Busy / Normal mode). Embedded C language is used to write the programming in
Arduino UNO board to control line following robot efficiently.
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Literature survey:

1. Line Follower Using Arduino And Its Applications

International Journal of Applied Engineering Research , Volume 14, Number 13, 2019
(Special Issue)

This paper has been designed to build a Line following Robot using IR sensor to follow a
designated path which is provided and runs over it. ROBOT has sufficient intelligence to
cover the maximum area of space provided. It will move in a particular direction specified by
the user to navigate the robot through a black line marked on the white surface. Automatic
parking technology has become a popular research topic. Automatic parking technology can
complete parking operations safely and quickly without a driver and can improve driving
comfort, while greatly reducing the probability of parking accidents.

2. LINE FOLLOWING ROBOT

International Journal of Innovative Research in Electrical, Electronics, Instrumentation and

Control Engineering Vol. 9, Issue 5, May 2021

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 colour. 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 two sensor makes its movement precise and flexible. The robot is
driven by DC gear motors to control the movement of the wheels. The dc gear motor is
driven by the motor driven circuit. 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. It can be used industrial automated equipment carriers, small
household applications, tour guides in museums and other similar applications, etc.
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 Description of Technology Used:

Embedded System

Embedded systems are often required to provide Real-Time response. A Real-Time

system is defined as a system whose correctness depends on the timeliness of its response.
Examples of such systems are flight control systems of an aircraft, sensor systems in nuclear
reactors and power plants.

For these systems, delay in response is a fatal error. A more relaxed version of Real-
Time Systems is the one where timely response with small delays is acceptable. Example of
such a system would be the Scheduling Display System on the railway platforms. In technical
terminology, Real-Time Systems can be classified as:

· Hard Real-Time Systems - systems with severe constraints on the timeliness

of the response.

S· Soft Real-Time Systems - systems which tolerate small variations in response

times.

· Hybrid Real-Time Systems - systems which exhibit both hard and soft
constraints on its performance.

Application of Embedded Systems

Embedded systems are playing important roles in our lives every day, even though
they might not necessarily be visible. Some of the embedded systems we use every day
control the menu system on television, the timer in a microwave oven, a cell phone, an MP3
player or any other device with some amount of intelligence built-in.

In fact, recent poll data shows that embedded computer systems currently
outnumber humans in the USA. Embedded systems is a rapidly growing industry where
growth opportunities are numerous.
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Programming Languages in Embedded Systems

It is nice to have functional example code in some real language. Also, it is useful to
point out some features of popular programming languages that are especially important for
embedded systems.

· ANSI C programming language: Many microprocessors and microcontrollers can be

programmed in C, and a number of C cross-compilers exist for that purpose. C is perhaps the
most frequently used language for new embedded system development. The "const" and
the "volatile" keywords, rarely used in desktop application programming, become very
important in embedded systems.

· Assembly language: There are many different microcontroller families, each with
their own assembly language with its own unique quirks. This book will cover some basics of
assembly language common to most microcontrollers. Unlike desktop application
programming, embedded system programs generally must set up an "interrupt vector table".

What is a Microprocessor?

· A Microprocessor is an integrated circuit capable of performing arithmetic and logical

operations, such as add, subtract, compare, logical AND & OR functions.

· When combined with other integrated circuits such as memory, timer, and peripheral
interface chips, the microprocessor becomes a computer.

· The Microprocessor performs the arithmetic and logical operations using sequence
of instructions.

Applications of Microprocessor

Developed during the 1970s, the microprocessor became most visible as the central
processor of the personal computer. Microprocessors also play supporting roles within larger
computers as smart controllers for graphics displays, storage devices, and high-speed
printers. However, the vast majority of microprocessors are used to control everything from
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consumer appliances to smart weapons. The microprocessor has made possible the
inexpensive hand-held electronic calculator, the digital wristwatch, and the electronic game.

Microprocessors are used to control consumer electronic devices, such as the

programmable microwave oven and videocassette recorder; to regulate gasoline
consumption and antilock brakes in automobiles; to monitor alarm systems; and to operate
automatic tracking and targeting systems in aircraft, tanks, and missiles and to control radar
arrays that track and identify aircraft, among other defense applications.

What is a Microcontroller?

A microcontroller is a computer-on-a-chip, or a single-chip computer. Micro suggests

that the device is small, and controller tells that the device might be used to control objects,
processes, or events. Another term to describe a microcontroller is embedded controller,
because the microcontroller and its support circuits are often built into, or embedded in, the
devices they control.

Any device that measures, stores, controls, calculates, or displays information is a

candidate for putting a microcontroller inside. Basically a microcontroller is a computing
device, and is a single integrated circuit (“silicon chip” or IC) used to form part of a product
that incorporates some software program control. As a microcontroller is basically part of a
computing system it can be used in applications requiring control, operator and user display
generation, simple sequencing and many other mundane tasks.

Microcontrollers are found in many common application areas, including domestic

appliances such as microwaves, televisions and television remote control units, stereo units,
and increasingly in automobiles for engine control, passenger heater unit control, display
instrumentation and many other tasks. The widespread availability of microcontrollers is a
testament to their flexibility and low unit cost.

A typical micro controller design incorporates all of the features in a microprocessor

CPU: ALU, PC, SP and registers. It also has added features needed to make a complete
computer: ROM, RAM, Parallel I/O, Timers and etc.

To make a complete computer, a microprocessor requires memory for storing data

and programs, and input/output (I/O) interfaces for connecting external devices like
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keyboards and displays. In contrast, a microcontroller is a single-chip computer because it

contains memory and I/O interfaces in addition to the CPU.

Because the amount of memory and interfaces that can fit on a single chip is limited,
microcontrollers tend to be used in smaller systems that require little more than the
microcontroller and a few support components. Examples of popular microcontrollers are
Intel’s 8052 (including the 8052), Motorola’s 68HC11, and Zilog’s Z80.

Applications of Microcontroller

The largest single use for microcontrollers is in automobiles-just about every car
manufactured today includes at least one microcontroller for engine control, and often more
to control additional systems in the car.

In desktop computers, microcontrollers present inside keyboards, modems, printers,

and other peripherals. In test equipment, microcontrollers make it easy to add features such
as the ability to store measurements, to create and store user routines, and to display
messages and waveforms. Consumer products that use microcontrollers include cameras,
video recorders, compact-disk players, and ovens. And these are just a few examples.

A microcontroller is similar to the microprocessor inside a personal computer.

Examples of microprocessors include Intel’s 8086, Motorola’s 68000, and Zilog’s Z80. Both
microprocessors and microcontrollers contain a central processing unit, or CPU. The CPU
executes instructions that perform the basic logic, math, and data-moving functions of a
computer.

Comparing Microprocessors and Micro controllers

Microprocessor contains no RAM, no ROM, and no I/O ports on the chip itself. A
micro controller has a CPU, in addition to a fixed amount of RAM, ROM, I/O ports, and
timers are all embedded together on one chip.
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The microprocessor is concern with rapid movement of code and data from external
addresses to the chip; the micro controller is concerned with rapid movement of bits within
the chip.

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 Details of Hardware Devices:

SI.NO HARDWARE QUANTITY

1 Arduino UNO development board 1
2 IR Pair Sensor 3
3 Robotic Motor Driver board (4 channel Relay 1
board)
4 Robotic Motor 2
5 Robotic Setup mechanical part 1
6 DC Power Supply 5v 1
7 Rechargeable battery 6v 1

 Details of Software Products:

SI.NO SOFTWARE
1 Arduino Software (Version 1.8.5)
2 Embedded C Language Programming

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 Arduino Programming Language: (Programming languages):

Arduino is a tool for making computers that can sense and control more of the physical world than

your desktop computer. It's an open-source physical computing platform based on a simple

microcontroller board, and a development environment for writing software for the board.

Arduino can be used to develop interactive objects, taking inputs from a variety of switches or

sensors, and controlling a variety of lights, motors, and other physical outputs. Arduino projects can

be stand-alone, or they can be communicate with software running on your computer (e.g. Flash,

Processing, MaxMSP.) The boards can be assembled by hand or purchased preassembled; the open-

source IDE can be downloaded for free.

The Arduino programming language is an implementation of Wiring, a similar physical computing

platform, which is based on the Processing multimedia programming environment.

Why Arduino?

There are many other microcontrollers and microcontroller platforms available for physical

computing. Parallax Basic Stamp, Netmedia's BX-24, Phidgets, MIT's Handyboard, and many others

offer similar functionality. All of these tools take the messy details of microcontroller programming
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and wrap it up in an easy-to-use package. Arduino also simplifies the process of working with

microcontrollers, but it offers some advantage for teachers, students, and interested amateurs over

other systems:

 Inexpensive - Arduino boards are relatively inexpensive compared to other microcontroller

platforms. The least expensive version of the Arduino module can be assembled by hand,

and even the pre-assembled Arduino modules cost less than $50

 Cross-platform - The Arduino software runs on Windows, Macintosh OSX, and Linux

operating systems. Most microcontroller systems are limited to Windows.

 Simple, clear programming environment - The Arduino programming environment is easy-to-

use for beginners, yet flexible enough for advanced users to take advantage of as well. For

teachers, it's conveniently based on the Processing programming environment, so students

learning to program in that environment will be familiar with the look and feel of Arduino

 Open source and extensible software- The Arduino software is published as open source

tools, available for extension by experienced programmers. The language can be expanded

through C++ libraries, and people wanting to understand the technical details can make the

leap from Arduino to the AVR C programming language on which it's based. SImilarly, you can

add AVR-C code directly into your Arduino programs if you want to.

 Open source and extensible hardware - The Arduino is based on Atmel's ATMEGA8 and

ATMEGA168 microcontrollers. The plans for the modules are published under a Creative

Commons license, so experienced circuit designers can make their own version of the

module, extending it and improving it. Even relatively inexperienced users can build the

breadboard version of the module in order to understand how it works and save money.
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 Descriptions of the components and Component diagrams in the system

Arduino Board:

Arduino is an open-source platform used for building electronics projects. Arduino consists
of both a physical programmable circuit board (often referred to as a microcontroller) and a
piece of software, or IDE (Integrated Development Environment) that runs on your computer,
used to write and upload computer code to the physical board.

The Arduino platform has become quite popular with people just starting out with electronics,
and for good reason. Unlike most previous programmable circuit boards, the Arduino does
not need a separate piece of hardware (called a programmer) in order to load new code onto
the board -- you can simply use a USB cable. Additionally, the Arduino IDE uses a simplified
version of C++, making it easier to learn to program. Finally, Arduino provides a standard
form factor that breaks out the functions of the micro-controller into a more accessible
package.

What Does it Do?

The Arduino hardware and software was designed for artists, designers, hobbyists, hackers,
newbies, and anyone interested in creating interactive objects or environments. Arduino can
interact with buttons, LEDs, motors, speakers, GPS units, cameras, the internet, and even
your smart-phone or your TV! This flexibility combined with the fact that the Arduino
software is free, the hardware boards are pretty cheap, and both the software and hardware
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are easy to learn has led to a large community of users who have contributed code and
released instructions for a huge variety of Arduino-based projects.

What's on the board?

There are many varieties of Arduino boards (explained on the next page) that can be used for
different purposes. Some boards look a bit different from the one below, but most Arduinos
have the majority of these components in common:

Power (USB / Barrel Jack)

Every Arduino board needs a way to be connected to a power source. The Arduino UNO can
be powered from a USB cable coming from your computer or a wall power supply (like this)
that is terminated in a barrel jack. In the picture above the USB connection is labeled (1) and
the barrel jack is labeled (2).

The USB connection is also how you will load code onto your Arduino board. More on how
to program with Arduino can be found in our Installing and Programming Arduino tutorial.

NOTE: Do NOT use a power supply greater than 20 Volts as you will overpower (and
thereby destroy) your Arduino. The recommended voltage for most Arduino models is
between 6 and 12 Volts.
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Pins (5V, 3.3V, GND, Analog, Digital, PWM, AREF)

The pins on your Arduino are the places where you connect wires to construct a circuit
(probably in conjuction with a breadboard and some wire. They usually have black plastic
„headers‟ that allow you to just plug a wire right into the board. The Arduino has several
different kinds of pins, each of which is labeled on the board and used for different functions.

 GND (3): Short for „Ground‟. There are several GND pins on the Arduino, any of
which can be used to ground your circuit.
 5V (4) & 3.3V (5): As you might guess, the 5V pin supplies 5 volts of power, and the
3.3V pin supplies 3.3 volts of power. Most of the simple components used with the
Arduino run happily off of 5 or 3.3 volts.
 Analog (6): The area of pins under the „Analog In‟ label (A0 through A5 on the UNO)
are Analog In pins. These pins can read the signal from an analog sensor (like
a temperature sensor) and convert it into a digital value that we can read.
 Digital (7): Across from the analog pins are the digital pins (0 through 13 on the
UNO). These pins can be used for both digital input (like telling if a button is pushed)
and digital output (like powering an LED).
 PWM (8): You may have noticed the tilde (~) next to some of the digital pins (3, 5, 6,
9, 10, and 11 on the UNO). These pins act as normal digital pins, but can also be used
for something called Pulse-Width Modulation (PWM). We have a tutorial on PWM,
but for now, think of these pins as being able to simulate analog output (like fading an
LED in and out).
 AREF (9): Stands for Analog Reference. Most of the time you can leave this pin
alone. It is sometimes used to set an external reference voltage (between 0 and 5
Volts) as the upper limit for the analog input pins.

Reset Button

Just like the original Nintendo, the Arduino has a reset button (10). Pushing it will
temporarily connect the reset pin to ground and restart any code that is loaded on the
Arduino. This can be very useful if your code doesn‟t repeat, but you want to test it multiple
times. Unlike the original Nintendo however, blowing on the Arduino doesn't usually fix any
problems.
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Power LED Indicator

Just beneath and to the right of the word “UNO” on your circuit board, there‟s a tiny LED
next to the word „ON‟ (11). This LED should light up whenever you plug your Arduino into a
power source. If this light doesn‟t turn on, there‟s a good chance something is wrong. Time to
re-check your circuit!

TX RX LEDs

TX is short for transmit, RX is short for receive. These markings appear quite a bit in
electronics to indicate the pins responsible for serial communication. In our case, there are
two places on the Arduino UNO where TX and RX appear -- once by digital pins 0 and 1,
and a second time next to the TX and RX indicator LEDs (12). These LEDs will give us
some nice visual indications whenever our Arduino is receiving or transmitting data (like
when we‟re loading a new program onto the board).

Main IC

The black thing with all the metal legs is an IC, or Integrated Circuit (13). Think of it as the
brains of our Arduino. The main IC on the Arduino is slightly different from board type to
board type, but is usually from the ATmega line of IC‟s from the ATMEL company. This can
be important, as you may need to know the IC type (along with your board type) before
loading up a new program from the Arduino software. This information can usually be found
in writing on the top side of the IC. If you want to know more about the difference between
various IC's, reading the datasheets is often a good idea.

Voltage Regulator

The voltage regulator (14) is not actually something you can (or should) interact with on the
Arduino. But it is potentially useful to know that it is there and what it‟s for. The voltage
regulator does exactly what it says -- it controls the amount of voltage that is let into the
Arduino board. Think of it as a kind of gatekeeper; it will turn away an extra voltage that
might harm the circuit. Of course, it has its limits, so don‟t hook up your Arduino to anything
greater than 20 volts.

The Arduino Family

Arduino makes several different boards, each with different capabilities. In addition, part of
being open source hardware means that others can modify and produce derivatives of
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Arduino boards that provide even more form factors and functionality. If you‟re not sure
which one is right for your project, check this guide for some helpful hints. Here are a few
options that are well-suited to someone new to the world of Arduino:

Arduino Uno (R3)

The Uno is a great choice for your first Arduino. It's got everything you need to get started,
and nothing you don't. It has 14 digital input/output pins (of which 6 can be used as PWM
outputs), 6 analog inputs, a USB connection, a power jack, a reset button and more. It
contains everything needed to support the microcontroller; simply connect it to a computer
with a USB cable or power it with a AC-to-DC adapter or battery to get started.

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IR Sensor for Line Tracking Application:

IR sensor is an electronic device, that emits the light in order to sense some object of the
surroundings. An IR sensor can measure the heat of an object as well as detects the motion.
Usually, in the infrared spectrum, all the objects radiate some form of thermal radiation.
These types of radiations are invisible to our eyes, but infrared sensor can detect these
radiations.

The emitter is simply an IR LED (Light Emitting Diode) and the detector is simply an IR
photodiode . Photodiode is sensitive to IR light of the same wavelength which is emitted by
the IR LED. When IR light falls on the photodiode, the resistances and the output voltages will
change in proportion to the magnitude of the IR light received.

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IR Sensor Working Principle

An IR sensor consists of an IR LED and an IR Photodiode, together they are called as
PhotoCoupler or OptoCoupler.

IR Transmitter or IR LED

Infrared Transmitter is a light emitting diode (LED) which emits infrared radiations
called as IR LED’s. Even though an IR LED looks like a normal LED, the radiation
emitted by it is invisible to the human eye.

The picture of an Infrared LED is shown below.

IR Receiver or Photodiode

Infrared receivers or infrared sensors detect the radiation from an IR transmitter. IR receivers
come in the form of photodiodes and phototransistors. Infrared Photodiodes are different
from normal photo diodes as they detect only infrared radiation. Below image shows the
picture of an IR receiver or a photodiode,

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The emitter is an IR LED and the detector is an IR photodiode. The IR photodiode is sensitive
to the IR light emitted by an IR LED. The photo-diode’s resistance and output voltage change
in proportion to the IR light received. This is the underlying working principle of the IR sensor.

When the IR transmitter emits radiation, it reaches the object and some of the radiation
reflects back to the IR receiver. Based on the intensity of the reception by the IR receiver, the
output of the sensor defines.

CIRCUIT DIAGRAM OF MOTOR DRIVING CIRCUIT

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High Current and HIGH Voltage Switching Circuit:

The ULN2003 is a monolithic high voltage and high current Darlington transistor arrays. It
consists of seven NPN darlington pairs that features high-voltage outputs with common-
cathode clamp diode for switching inductive loads. The collector-current rating of a single
darlington pair is 500mA. The darlington pairs may be parrlleled for higher current capability.
Applications include relay drivers, hammer drivers, lampdrivers, display drivers(LED gas
discharge),line drivers, and logic buffers. The ULN2003 has a 2.7kΩ series base resistor for
each darlington pair for operation directly with TTL or 5V CMOS devices.

LOGIC DIAGRAM OF ULN2003

SCHEMATIC(EACH DARLINGTON PAIR)

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Project Switching Circuit Diagram

FEATURES
 500mA rated collector current(Single output)
 High-voltage outputs: 50V
 Inputs compatibale with various types of logic.
 Relay driver application

Motor Relay circuit board 1:

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Motor Relay circuit board 2

 Circuit diagram of Relay Circuit is shown in the figure.

 Relay is nothing but it is a electromagnetic switch.
 It receives the signal from Switching Circuit. Relay Convert one energy level to
another energy level.
 Whenever current flow across the relay, motor will be run.
 In this project we use two driver circuit boards.
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BASIC MOTOR CONTROL AND RELAY LOGIC

Many machine functions involve turning motors on and off and/or reversing their direction.
While there are many electronic motor controllers of all types on the market, if all one needs
is to power a motor or other load on and off, an electromechanical relay is often all that is
needed.

In order to understand and use relays in our designs, we must first understand the basics of
switch logic. We all know that a switch is a device that opens and closes a circuit. "Off" is
open, and "On" is closed. We also might be aware that in logic terminology, a closed switch
represents a logic "1", and an open switch represents logic "0".

Switches are designated by the amount of poles and throws they have. The throws are the
fixed contacts, while the poles are the contacts that move when the switch is activated or
"thrown". Depending on how the switch is built it can have throws that are normally closed,
meaning that they are in contact with the pole, closing the circuit; normally open, meaning
the opposite, that the contacts are normally not in contact, or open; or the switch can have just
about any number and configuration of poles and throws.

The typical nomenclature for switches abbreviates a "P" for poles and a "T" for throws, with
the number of each also being abbreviated by a single letter. A common limit switch
configuration, for example, would be "SPDT" for Single Pole, Double Throw.

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Relays are nothing more than electrically operated switches. Relays use an electromagnetic
coil to pull the poles of the switch into position. Most relays return to the normally closed
position by a spring when the coil is deenergized, so relay contacts are usually identified in
the same way as those of a momentary contact switch.

Circuit Diagram of Robotic Motor Drive Board

POWER SUPPLY:
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Power supply unit consists of Step down transformer, Rectifier, Regulator unit, filters.

AC Voltage DC Voltage
STEP DOWN RECTIFIER FILTER

TRANSFORMER (Bridge
REGULATOR
Rectifier)

Typical Block of Power Supply

CIRCUIT DIAGRAM OF POWER SUPPLY:

Circuit Diagram of Power Supply

STEP DOWN TRANSFORMER:
The Step down Transformer is used to step down the main supply voltage from 230V AC
to lower value. This 230 AC voltage cannot be used directly, thus it is stepped down. The
step down voltage is consists of 12V.The Transformer consists of primary and secondary
coils. To reduce or step down the voltage, the transformer is designed to contain less number
of turns in its secondary core. The output from the secondary coil is also AC waveform. Thus
the conversion from AC to DC is essential. This conversion is achieved by using the Rectifier
Circuit/Unit.

RECTIFIER:
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The Rectifier circuit is used to convert the AC voltage into its corresponding DC
voltage. Rectifier having three types,

 Half wave rectifier.

 Full wave rectifier.
 Bridge rectifier.

The most important and simple device used in Rectifier circuit is the diode. This
project used to bridge rectifier. A bridge rectifier makes use of four diodes in a bridge
arrangement to achieve full-wave rectification. This is a widely used configuration, both with
individual diodes wired as shown and with single component bridges where the diode bridge
is wired internally.

Bridge Rectifier
The simple function of the diode is to conduct when forward biased and not to conduct in
reverse bias. The Forward Bias is achieved by connecting the diode‟s positive with positive
of the battery and negative with battery‟s negative. The efficient circuit used is the Full wave
Bridge rectifier circuit. The output voltage of the rectifier is in rippled form, the ripples from
the obtained DC voltage are removed using other circuits available. The circuit used for
removing the ripples is called Filter circuit.
The simple capacitor filter is the most basic type of power supply filter. The
application of the simple capacitor filter is very limited. It is sometimes used on extremely
high-voltage, low-current power supplies for cathode-ray and similar electron tubes, which
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require very little load current from the supply. The capacitor filter is also used where the
power-supply ripple frequency is not critical; this frequency can be relatively high. The
capacitor (C1) shown in figure above is a simple filter connected across the output of the
rectifier in parallel with the load.
Capacitors are used as filter. The ripples from the DC voltage are removed and pure DC
voltage is obtained. And also these capacitors are used to reduce the harmonics of the input
voltage. The primary action performed by capacitor is charging and discharging. It charges in
positive half cycle of the AC voltage and it will discharge in negative half cycle. Here we
used 1000µF capacitor. So it allows only AC voltage and does not allow the DC voltage. This
filter is fixed before the regulator. Thus the output is free from ripples.

REGULATOR
Regulator regulates the output voltage to be always constant. Regulators is of two
types.
 Positive regulator (78XX)
 Negative regulator (79XX)
The output voltage is maintained irrespective of the fluctuations in the input AC
voltage. As and then the AC voltage changes, the DC voltage also changes. Thus to avoid this
Regulators are used. Also when the internal resistance of the power supply is greater than 30
ohms, the output gets affected. Thus this can be successfully reduced here. The regulators are
mainly classified for low voltage and for high voltage. Here we used 7805 positive regulator.
It reduces the 12V dc voltage to 5V dc.

The Filter circuit is often fixed after the Regulator circuit. Capacitor is most
often used as filter. The principle of the capacitor is to charge and discharge. It charges during
the positive half cycle of the AC voltage and discharges during the negative half cycle. So it
allows only AC voltage and does not allow the DC voltage. This filter is fixed after the
Regulator circuit to filter any of the possibly found ripples in the output received finally. Here
we used 0.1µF capacitor. The output at this stage is 5V and is given to the Microcontroller.

 Circuit Diagram and Description (Construction or Fabrication details):

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[add circuit diagram here ]

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 Flowchart

Note: attach ur project flow chart here

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Results of Project:

Note: Attach ur project kit demo images here

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 Applications
 It can be used in vehicle for goods loading and unloading application.

 It can be used in military

 It can be used in defence

 It can be used in hotel to deliver foods

 It can be used in industries for material shifting automation.

 Advantages:
 Prevent accidents due to automatic line following and smart control system.
 Robot mechanism Reduces man power.
 Save human life due to accident prevention.
 Save property damage of train.
 Less maintenance.
 Low cost.
 It work at high speed.
 It provides low noises due to digital microcontroller.
 Save money

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 Conclusion
Intelligent Line Following Robot Automation system using Arduino UNO board has been
designed and demonstrated successfully. In this project Arduino Uno Microcontroller is heart
of the project and it control entire operation of system. The line following robot is
automobile system that has ability to recognize its path, move and change the robot's
position toward the line in the best way to remain in track. This project report presents a
photodiode sensor based line follower robot which always directs along the black line on
white surface. The line following robot project challenged the group to cooperate,
communicate, and expand understanding of electronics, mechanical systems, and their
integration with programming. The successful completion of each task demonstrated the
potential of mechatronic systems and a positive group dynamic.

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 References
[1]. Pakdaman, M.; Sanaatiyan, M.M., "Design and Implementation of Line Follower Robot,",
Second International Conference on Computer and Electrical Engineering TCCEE '09, vol.2,
pp.585- 590, Dec.2009.

[2]. PriyankPatil, "A VR Line Following Robot," Department of Information Technology K. 1.

Somaiya College of Engineering Mumbai, India. Mar 5, 2010.

[3]. Dean A. Pomerleau; Jay Gowdy; Charles E. Thorpe, "Combining Artificial Neural
Networks and Symbolic Processing for Autonomous Robot Guidance," Engng Applic. Artif.
Intell. Vol. 4, No. 4, pp. 279-285,1991.

[4]. L1U Shi-Cai; TAN Da-Long; L1U Guang-Jun, "Formation Control of Mobile Robots with
Active Obstacle Avoidance," Acta Automatica Sinica, vol. 33, No. 5, 2007 .

[5] Line follower robot. Retrieved from http://www.engineersgarage.Com/contribution /line-

follower- robot

[6] How to make a line follower robot. Retrieved from http://www.instructables. Com /id/

[7] Retrived from circuitstoday.com www.duino4projects.com, techfeasta.com,

[8] Mobile Robot. Retrieved From https ://en.wikipedia. org/wiki /Mobile_ robot

[9] letsmakerobots.com

[10].MrShridhar Doddmani, “An Inspection System for Detection of Cracks on the Railway
Track using a Mobile Robot” International Journal of Engineering Research & Technology
(IJERT) ISSN: 2278-0181 Vol. 4 Issue 05, May-2015.
[11]. K.S Vidhya, M. Lavanya, A. Abinayapriya, S. Kaaviya,R.Saravanan, C.Sivapragash,
“An approach with sensor for real time railway track surveillance system”International
conference on breakthrough in engineering, Science & Technology–2016 (INC-BEST‟16).
[12].P.Sureshpandiarajan, S.Nithya,P.Sathyaand S.Pradeepa “A nondestructive sensing robot
for crackdetection and deck maintenance”International Journal for Research in Applied
Science & EngineeringTechnologyISSN: 2321-9653 Volume 3 Issue IV, April 2015.
[13]. Revathi, A Jeyalakshmi, C“Robust Speech Recognition in Noisy Environment using
Perceptual Features and Adaptive Filters”, Proceedings of „International Conference on
Communication and Electronics Systems (ICCES 2017), pp.692-696, 2018.
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[14]. R.Balamurugan,,N.R.Nagarajan “Smart Method Of Vehicular Tactical Manoeuvre

system” International Journal of Advanced Research in Electrical Electronics and
Instrumental Engineering volume 8issue 4 April 2019. ISSN 2320-3765.
[15]. Balamurugan,N.R.Nagarajan “Automatic Robotic Arm Using Hand Gestures”,
International journal of Engineering Research&Technology.Issn:2278-0181 march 2017
[16]. N.R.Nagarajan,R.Balamurugan, “ A DFT Tactic Aimed at Testable Q-flop
Rudiments”,International Journal of Advanced Research in Electrical Electronicsand
Instrumental Engineering volume 8issue 4 April 2019.ISSN23203765.
[17]. R.Balamurugan ,N.R.Nagarajan”smart shoppe trolley”, International Journal of
Advanced Research in computer and communication Engineering ISSN2278-1021 vol 6
may2019.
[18]. S Shabina, “Smart Helmet Using RF and WSN Technology for Underground Mines
Safety”,Proceedings of International Conferenceon Intelligent Computing Applications,
pp.305-309,2014.
[19]. R Preethi Rajaiah, R John Britto, “Optic disc boundary detection and cup
segmentationfor prediction of glaucoma”,International Journal of Science, Engineering and
Technology Research (IJSETR), vol.3, issue 10, pp. 2665-2672,2014.

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