LINE FOLLOWING ROBOT

Submitted by
K. KARTHIK 19M95A0407
V. BHANU PRAKASH 18M91A0452
M. MANASA 18M91A0441

UNDER GUIDANCE

A. MALLA REDDY
ABSTRACT:

 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.
 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 ATmega328 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.

LITERATURE SURVEY:

PROJECT ON LINE FOLLOWING ROBOT:

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 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.
 APPLICATION NOTE POSITION AND SPEED CONTROL OF A DC
MOTOR USING ANALOG PID CONTROLLER:

 This is a demonstration of how to implement an Analog PID controller

controlling: the angular position of a DC motor shaft then editing the design to
control its speed as well as tuning PID parameters for reliable performance. This
application note comes complete with design files which can be found in the
References section.
 A LINE FOLLOWER ROBOT FROM DESIGN TO IMPLEMENTATION:
TECHNICAL ISSUES AND PROBLEMS:

 The Line follower robot is a mobile machine that can detect and follow the line drawn on the floor. Generally, the path

is predefined and can be either visible like a black line on a white surface with a high contrasted colour or it can be

invisible like a magnetic field. Therefore, this kind of Robot should sense the line with its Infrared Ray (IR) sensors

that installed under the robot. After that, the data is transmitted to the processor by specific transition buses. Hence, the

processor is going to decide the proper commands and then it sends them to the driver and thus the path will be

followed by the line follower robot. TABAR is a line follower robot designed and tested in order to attend at Tabruze

line follower robots competition. But it encounter with some technical and mechanical problems. In this Paper, we

have illustrated the process of design, implementation and testing TABAR, a small line follower robot designed for the

line follower robots competition. The technical and mechanical issues and problems also have investigated .
BLOCK DAIGRAM:
SCHEMATIC DAIGRAM:

Block diagram
ARDIUNO:

 The Arduino is a family of microcontroller boards to

simplify electronic design, prototyping and experimenting
for artists, hackers, hobbyists, but also many professionals.
People use it as brains for their robots, to build new digital
music instruments, or to build a system that lets your house
plants tweet you when they’re dry.
 IR SENSOR:

 An infrared Sensor is an electronic device, that emits in

order to sense some aspects of the surroundings. An IR
sensor can measure the heat of an object as well as detects
the motion. These types of sensors measures only infrared
radiation, rather than emitting it that is called as a 
passive IR sensor. Usually in the infrared spectrum, all the
objects radiate some form of thermal radiations.
MOTOR:

 DC motors like this are great for

battery-powered toys (things like model
trains, radio-controlled cars, or electric
shavers), but you don't find them in
many household appliances. Small
appliances (things like coffee grinders
or electric food blenders) tend to use
what are called universal motors, which
can be powered by either AC or DC.
KIT WORKING IMAGE
Line following robot
ADVANTAGES:

 Robot movement is automatic.

 Fit and Forget systems.

 Used for long distances applications

 Defense applications.

 Used in home, industrial, automation.

 Cost effective

 Simplicity of building.
APPLICATIONS:
 Industrial automated equipment carriers.

 Automated cars.

 Tour guides in museums and other similar applications

 Deliver the mail within the office building.

 Deliver medications in a hospital.

 Guidance system for industrial robots moving on shop floor etc..

 Industrial applications.

 Home applications.
SPECIFICATIONS:
Sensors:
 2 IR based Line sensors.
 2 IR based obstacle detection sensors.
Mechanical Construction:
 Two wheel drive with front skid.
 High quality Acrylic laser cut chassis.
 Plastic wheels with rubber grip.
Electrical Features:
 2*100rpm Motors.
 Driven by 8.4v rechargeable AA size NiMH battery pack.
 9v Power supply.
COMPONENTS:

 Arduino UNO(or Arduino Nano)

 L293D Motor driver IC.
 Geared motors.
 Robot chassis.
 IR Sensor module.
 Black Tape (Electrical Insulation tape)
 Connecting Wires.
 Power supply.
FUTURE SCOPE:

 Software control of the line type(dark or light)to make automation detection

possible.
 “Obstacle detecting sensors” to avoid physical obstacles and continue on the line.
 Distance sensing and position logging & transmission.
CONCLUSION:

 The Robot follows a specific line path simultaneously. This line follower robot with multiple
modes compatibility works perfectly fine as it is designed to do .And thus attempt will be made
to solve the unplanned and unauthorised parking problems in the resident area using prototype
valet parking robot. The slot type and state of the slot will been identified using Sharp IR
Sensor. And simultaneously we can perform the operation of Buzzer beep operation, object
identification, LCD display, robot direction control operation and will finally execute parking
near to the end.
THANK YOU