FEDERAL TVET INSTITUTE WOLKITE

SATELLITE CAMPUS
DEPARTMENT OF INFORMATION TECHNOLOGY

Proposal Title: Line Follow Robot

In partial fulfillment for the award of the degree of Bachelor of Science in information
technology.

Name of Students ID Number

1. BizunhGetu ETUBSR/1175
2. GezuDaba ETUBSR/1198
3.
4. Zinabu Segoye ETUBSR/1189

Submitted to
Mr. Tesfay y.

Apr, 2024
Wolkite, Ethiopa.
Declaration
We are students of federal tvet institute wolkite satellite campus department of information
technology. The information found in this proposal project is our original work. And all
sources of materials that will be used for the project work will be fully acknowledged.

Name signature

1. BizunhGetu ---------------

2. Gezu Daba ---------------

3. ----------------

4. Zinabu Segoye -----------------

This project proposal has been submitted for examination with our approval as a institute
advisor.

Project advisor Signature Date

Mr.Tesfay y. --------------- Apr29, 2024

 Acronyms
LFR: Line Follower Robot
IR sensor: Infrared sensor
Arduino UNO: Micro-Controller
Cds: Cadmium sulphide:
LDR: Light dependent resistor
LED : Light emitting diode

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 Abstract

Line Following robot 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 Infrared (IR) sensors to identify the line, thus assisting the robot to stay on
the track and ultrasonic sensor, thus assisting the robot to detect obstacles. The array of three
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. It can be
used industrial automated equipment carriers, small household applications, tour guides in
museums and other similar applications, etc.

Concept of working line follower is related to light. We use here the behavior of light at black
and white surface. When light fall on a white surface it is almost full reflected and in case of
black surface light is completely observed. This behavior of light is used in building a line
follower robot. In this arduino based line follower robot we used IR transmitters and IR receivers
also called photo diodes. They are used for sending and receiving light.IR transmits infrared
lights. When infrared rays falls on white surface, it’s reflected back and cached by photodiodes
which generates some voltage changes. When IR light falls on a black surface, light is absorbed
by the black surface and no rays are reflected back, thus photodiode does not receive any light
or rays.

Here in this arduino line follower robot when sensor senses white surface then arduino gets one
as input and when senses black line arduino get zero as input. The whole arduino line follower
robot can be divided in to three section: - Sensor section, Control section, driver section

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Contents
Declaration.....................................................................................................................................i
Acronyms ……………………………………………………….………………. ii
Abstract........................................................................................................................................iii
1. Introduction..........................................................................................................................1
2. Statement of the problem.....................................................................................................2
3. Objective of the project........................................................................................................2
General objective..............................................................................................................2
Specific objective..............................................................................................................2
4. Literature Review.................................................................................................................3
5. Lemitation ……………………………………………………………………………..….4
6. Methodology........................................................................................................................4
Block Diagram of the project............................................................................................5
Block Diagram Description:.............................................................................................5
Materials Description........................................................................................................6
7. Expected outcomes/Results:................................................................................................9
8. Work Plan or time frame for the project............................................................................10
9. Team compostion ………………………………………………………………………..11
10. Cost Breakdown.................................................................................................................12
11. CONCLUSION..................................................................................................................13
12. References..........................................................................................................................14

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List of figure
Figure 5. 1 over all of the project.............................................................................................................4
Figure 5.2 General block diagram of line follower..................................................................................5
Figure 5.3 Infrared sensor........................................................................................................................6
Figure 5. 4 White surfaces reflect light and black absorbs......................................................................6
Figure 5. 5 Description of various parts...................................................................................................7
Figure 5.6 Forward movement.................................................................................................................7
Figure 5. 7 Turn right movement.............................................................................................................8
Figure 5.8 Turn left movement................................................................................................................8

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 List of Table
Table 7.1 work schedule for the project.........................................................................................10
Table 8.1 team composition ……………………………………………………………………. 11
Table 9.1 cost breakdown..............................................................................................................12

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 1. Introduction
Line follower robot is a machine which follows a line either a black line or white line. Basically
there are two types of line follower robots: one is black line follower which follows black line
and second is white line follower which follows white line. Line follower actually senses the line
and run over it.

Robotics is a new technology that largely used in the manufacturing field. This new technology
has found entrance too many industries. Besides that, robots are also employed in the nuclear
industry, civil engineering, marine work, ship building, and Agriculture and security super
vision. The line follower robot is a self-operating robot that detects and follows a line that is
drawn on the floor.

It is a reprogrammable, multifunction, manipulator designed for moving materials, tools, parts

etc. through various programmed motions to perform a variety of tasks. It is an automatic device
that performs functions normally ascribed to humans or a machine in the form of a human. Robot
can replace human’s job because robots can perform faster than humans. Robots need not to
drink, to be paid or rest as compared to humans. They can do repetitive work with high accuracy
and will not stop or slow until the task is finished while humans get bored. A line tracking robot
is an autonomous robot which is capable of following a black line drawn on the floor. It can
sense a line and maneuver the robot to stay on black line, while constantly correcting wrong
moves using open loop system.

Generally robots have three main parts which include processor, sensor and motor control
system. Robot sensors represent eyes while actuators act as legs and controller acts as the brain of
a human.

The most apparent reasons that are associated in installing of robotic systems in industry are

 Saving of manpower
 To improved quality & efficiency.
 An ability to work in any hostile environment.
 To increase consistency & flexibility.
 To increase yields and reduced wastage.
 Line tracking robot has applicability in industry as a part of manufacturing process.
 To deliver products from one manufacturing point to another point.

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 2. Statement of the problem

The line follower robot is very sensitive and everything in the robot is perfect to do specific
work that we want. Nowadays in office most of the delivery jobs such as deliver books,
documents, letters or other things are done by human beings. This daily routine job is actually
tedious and time consuming. The line follower robot performs this type of work in effective
manner. At the same time it will reduce employee payment cost, time, and human power. It
also will increase the efficiency of delivery job because human normally affected by pressure
and other problems.

In the industry carriers are required to carry products from one manufacturing plant to another
which are usually in different buildings or separate blocks by picking and placing the desired
products.

3. Objective of the project

3.1 General objective:

The main objective of this project is to design and implement a microcontroller based black
line follower robot for multipurpose application by considering a suitable body and wheel.

3.2 Specific objective

 To design and develop an autonomous robot that follows a black line drawn on the floor
while smoothing the tracking motion by using microcontroller.
 To design prototype of the robot that can follow the line and can turn according to the
sensor signal of the black line with pick and place desired products.
 To write the code according to the sensor to sense the black line and send the signal to the
microcontroller.
 To implement robot design, this integrated with sensors through suitable load speed
calculation.

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 4. Literature Review

The related subject being evaluate here are based on knowledge and the information gather from
journals, articles, thesis, books, internet and other sources.

Line following robot is a robot that identifies the path and follows the path. The first step of the
process is finding the path. For this we used the track colored in black in a white background as
the path and sensor for finding that path. Sensors developed distinct resistance depending on the
color which it senses. Arduino is used as the microcontroller to control the system and linking
the input and output. L293D motor driver was used as the motor controller. The voltage
regulator was used for regulating 5v which is required for biasing the micro controller. Two DC
motors are separately coupled for the driving wheels for steering the line. [1]

A line tracking robot is an autonomous robot which is capable of following a black line
drawn on the floor. It can sense a line and maneuver the robot to stay on black line, while
constantly correcting wrong moves using open loop system. The sensor to teach the robot how
to follow the black line. The line tracking robot will easily leave its track from the black line
drawn on the floor because it’s an open loop system. This problem will make the motion of the
robot to be unsmooth. Although line tracking robot can follow the black line its motion still need
to be improved. [2]

The line tracker robot basically use a cadmium sulphide (Cds) photocell sensor or known as light
dependent resistor (LDR) and the high intensity blue light emitting diode (LED) to illuminate the
area under the photo cell sensor to sense the black track line and the DC motor speed control
technique to navigate the black line track the easy method to navigate the black line is to turn on
and off the left or the right DC motor according to the sensor reading (black turn off and white
turn on). Human robot interaction is the study of interaction between human and robot, where
robot are treated as artificial agent with capacity of perception and action in the physical world.
Historically, their use has been generalized in factories. [3]

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 5. Methodology

Research, pertaining to line follower robot was done after the research we formulated a block
diagram according to our scope of understanding ,as far as the components go ,then all the proper
analysis were done then we checked our analysis by means of software called PROTEUS.

 Data collection: Collect necessary data through literature review on existing autonomous
line tracking robots, Arduino microcontroller, line sensor, driven motor and circuit design.
 Design electronics and mechanical system: Create a circuit diagram for electronics part and
design robot structure.
 Integration: Build a complete set of autonomous robot by integrates the mechanical
structure and electronics device.
 Programming and Testing: Build the complete set of program for Arduino microcontroller
and run the testing for the complete autonomous robot.
General flow of methodology:-
Problem identification

Literature review

Material selection and analysis

System modeling and design

Software simulation

Progress presentation

Implementation

Submission

Figure 5. 1 over all of the project

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 5.1. Block Diagram of the project
Motor power
Mai supply
n
Pow

IR (LS)
R dc motor

IR (MS) Motor
driver
Arduino uno L dc motor
IR(RS)

Servomotor2

Arm
mov2.
Ultrason
ic
sensor
Figure 5.2 General block diagram of line follower

5.2. Block Diagram Description:-

The block diagram consists of input section, controlling, driving and output section. The input
section contains three infrared sensors (left sensor, middle sensor and right sensor) and ultrasonic
sensor to detect an obstacle. These sensors are used to detect or track the line and help to move
the robot at that particular line path. These sensors are input to the arduino microcontroller by
detecting the line. The controlling and driving parts are arduino microcontroller and motor driver
respectively. The arduino microcontroller gets input from sensors and give outputs to motor
driver to drive the motor. These arduino microcontroller is also control pick and place function
of the robot. The output section contains two motors for robot movement in a line and other
actuators that performs link movement at an angle using servo or stepper motor.

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 5. Limitations
 It requires power supply.
 Lack of speed control makes it unstable.
 Choice of line is made in the hardware abstraction and cannot be changed by software.
 It moves on a fixed track.

6.2.1. Materials Description

6.2.1.1. Arduino microcontroller:-
The arduino microcontroller is the main control system in the project. That controls the motion
of each motor through driver for dc motor and servomotor for line tracking and pick and place
operation. The microcontroller gets input from sensors and gives output based on the program.

6.2.1.2. Infrared sensor:-

Figure 6.3 Infrared sensor

This infrared sensors used to detect the line that is bolt in front of the robot. It has transmitter and
receiver as shown the figure bellow.

Figure 6. 4 White surfaces reflect light and black absorbs

There are three strategic condition of the infrared sensor how it detects the targeted
line.
 Straight direction
 Left curve
 Right curve
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 Figure 6. 5 Description of various parts

Straight direction
We can expect our robot to move in street direction when the middle sensor response is low and
the remaining two sensors response is high. i.e., according to our arrangement the middle sensor
will always be on the line and as the line is black in color it will not reflect the emitted radiation
back and the response of the sensor will be low and the response of the remaining two sensors
will be high as they will be on the bright surface.

Figure 6.6 Forward movement

Right curve
When a right curve is found on the line the responses will change i.e. the response of the first
sensor which is to the right will become low as that sensor will be facing the black line and the
remaining sensors response will be high. When this data is achieved, the control of the wheels is
changed i.e. the right wheel is held constant and the left wheel is made to move freely until the
response from the middle sensor becomes low. Then the same process repeats again.

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 Figure 5. 7 Turn right movement

Left curve
When a left curve is found on the line the response of the left most sensor will be changed from
high to low as the sensor will now face the black or the dark surface. Then the control of the
wheel changes i.e. by holding the left wheel constant and allowing the right wheel to move freely
until the right sensor changes its response from high to low.

Figure 5.8 Turn left movement

The same process continues for all the turns and the robot moves continuously except all
robot
Wheels will be out of the black surface or detect obstacle.

6.2.1.3 Ultrasonic sensor:-

This sensor is used for detecting obstacle that are found on the condition when the robot is
tracking a line.

6.2.1.4 Motor driver:-

Motor driver taking the input signals from microcontroller and generate corresponding output for
motor .It is used for driving both dc motor and servomotor as the arduino microcontroller
ordered in the program.

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 6.2.1.5. Dc Gear motor:-

The two types of motors that we are likely to use in robotic adventure are DC motors and RC
servo motors. It is used to drive/move robot by tracking/detecting a line at specified starting
and ending point of a line.

6.2.1.6. Servo motors:-

It is used for the movement of links/arms at a specified joint by a certain angle in the operation
of pick and place the industrial products.

7. Expected outcomes/Results:-

Our expected outcomes or results at the final stage of the project are the robot satisfies its
behavior i.e multifunctional, reprogrammable, movable, automatic and also expected that the
robot do its task and as well as we want, that is the robot must track or follow the expected line
and the robot must pick and place some objects.

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 9. Work Plan or time frame for the project
Table 7.1 work schedule for the project

April May June

Activities to be Wk Wk 2 Wk Wk Wk Wk Wk Wk Wk Wk Wk Wk
done 1 3 4 1 2 3 4 1 2 3 4

Problem
Identification
Literature
Review
Material
selection and
Analysis
System modeling
and
Design
Software
Simulation
Progress
Presentation
Implementati
On
Submission

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 10. Team composition

Table 8.1 Team composition

Line follow robot

No NAME ID No E-Mail Responsibility

1. BIZUNEH GETU ETU/BSR bizuneh12getu@gmail.co Designing, implementing,

/1175/13 m monitoring
2. GEZU DABA ETU/BSR/ Gezudaba12@gmail.com Requirement gathering,
1189/13 designing
3. Implementing,
requirement gathering

4. ZINABU ETU/BSR/ Zinabu7263@gmail.com Implementing,

testing, maintenance
SEGOYE 1198/13
Advisor TESFAY Y.

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 11. Cost Breakdown
Table 9.1cost breakdown

Material Specifications Quantity Cost

Arduino microcontroller UNO R3 1 $39.5
Motor driver L293D 1 $28
Resister 3 $23
Ultrasonic sensor Hc-SRo4 3 $18*3
Dc Servo Motor 220rpm 3 $8*3
Infrared Sensor(IR) Module FC-51 3 $40*3
Battery holder 1 $8.99
12v battery 2 $26.98
Small Tires(wheels) 4 $6
Small ON/OFF Switch 2 $6
DC Gear motor 220rpm 4 $37
BREAD Board 1 $26
LCD Display 16x2 1 $19
Total $418.38

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 12. CONCLUSION
The black line follow mechanisms of the robot achieved by three sensors attached on the
middle, left and right edge of the robot. The movements of black line follower robot consider
four condition which are, forward, turn left, turn right and stop condition, which are decided by
AT89C51 microcontroller.

The robot was finally follow the line without any human guidance, must pick and place any
object by itself. And also when the robot detect an obstacle is on the track, the robot will be
stop running. To control speed of dc motors which rotate the wheels, mainly used gear system.

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 13. References

[1]. Sensor Based Black Line Follower Robot:- This paper was introduced by, Prananjali
Koppad, Vishnu Agarwal.In this robot uses IR sensor to follow certain black line.

[2]. Implementing a Line Tracing Robot as an effective Sensor and Closed Loop system:- This
paper is proposed by, S. Akash, Bibek Kabi , Mr. S.Karthick. This study aims to investigate
“the use of computer controlled line follower robots in public transport”

[3]. Design and Fabrication of Line Follower Robot:- This paper was proposed by, M. S. Islam
& M. A. Rahman. In this a 700gm weight of a 9W LDR sensor based line follower robot
which always directs along the black mark on the white surface.

[4]. An intelligent line-following robot project for introductory robot courses:- This paper is
proposed by, Juing-Huei Su, ChyiShyong Lee,et-al. The line-following robot devised in this
article for educational purposes includes only accurate line detection algorithms with analog
outputs of reflective optical sensors.

[5].line follower robot / controlled robot, http://www.robokits.co.in and

http://www.robokitsworld.com Paper.

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