Line Following Robot

Index
• Introduction
• Components
• Working Principle Let’s Discuss
• Block Diagram
• Application
• Advantages and Disadvantages
• Programming on Arduino
 Introduction
A Robot is a
machine capable of
carrying out a complex What is a Robot
series of actions
automatically,
especially one
programmable by a
computer.
 Line Following Robot
Line following Robot
is a machine that
What is a Line
can follow a path. Following Robot
The path can be
visible like a black
line on a white
surface or it can be
invisible like a
magnetic field.
Sensing a line and
maneuvering the
robot to stay on What is the
need to build
course, while line following
Robot?
constantly correcting
wrong moves using
feedback mechanism
forms a simple yet
effective closed loop
system.
 Components
•Arduino What are we
using?

•IR Sensor
•IC L293D
•Motors
•LFR Chassis
Arduino
Arduino is an open-
source computer hardware
and software company,
project and user community
that designs and
manufactures microcontroller
-based kits for building digital
devices and interactive
objects that can sense and
control objects in the physical
world.
 IR Sensor
A passive infrared
sensor (PIR sensor) is an
electronic sensor that
measures infrared (IR)
light radiating from
objects in its field of
view. They are most
often used in PIR-based
motion detectors.
 L293D(H-Bridge)

• Motors are arranged in a fashion called

H-Bridge.

• H-Bridge-It is an electronic circuit

which enables a voltage to be applied
across a load in either direction.

• It allows a circuit full control over a

standard electric DC motor. That is,
with an H-bridge, a microcontroller,
logic chip, or remote control can
electronically command the motor to
go forward, reverse, brake, and coast.
Motors
The motors rotate
clockwise and anti-
clockwise based on
the program. In the
motor electrical
energy is converted
into mechanical
energy.
 Working Principle
The IR sensor detects the light emitted by the
transmitter, if the receiver receives light, the wheel of
that side will keep on moving, as soon as the receiver
stops receiving the light (black colour absorbs the light
and thus no light is reflected so receiver cannot receive
any light) the wheel of that side will stop.
For turning ,the robot stops 1 motor and runs the
second to make the turn possible.
For eg:
 If the robot has to turn right then the motor on right
side will stop and left motor will keep on running and
thus allowing the robot to turn.
 Motor Logic
Left IR Sensor Right IR Sensor Motion
1 1 Forward
1 0 Right
0 1 Left
0 0 Reverse
Block Diagram
 Programming on Arduino
int a=6,b=7; digitalWrite(4,LOW);
void setup() digitalWrite(5,HIGH);
{ Serial.println("LEFT");delay(1);
pinMode(a,INPUT); }
pinMode(2,OUTPUT); else if((digitalRead(a)==HIGH)&&(digitalRead(b)==LOW))
pinMode(3,OUTPUT); {
pinMode(b,INPUT); digitalWrite(2,HIGH);
pinMode(4,OUTPUT); digitalWrite(3,LOW);
pinMode(5,OUTPUT); digitalWrite(4,HIGH);
Serial.begin(9600); digitalWrite(5,LOW);
} Serial.println("RIGHT");delay(1);
void loop()
{ }
if((digitalRead(a)==HIGH)&&(digitalRead(b)==HIGH))
{ else if((digitalRead(a)==LOW)&&(digitalRead(b)==LOW))
digitalWrite(2,HIGH); {
digitalWrite(3,LOW); digitalWrite(2,HIGH);
digitalWrite(4,LOW); digitalWrite(3,LOW);
digitalWrite(5,HIGH); digitalWrite(4,LOW);
Serial.println("FORWARD");delay(1); digitalWrite(5,HIGH);
} Serial.println("BACK");delay(1);
else if((digitalRead(a)==LOW)&&(digitalRead(b)==HIGH)) }
{
digitalWrite(2,LOW); }
digitalWrite(3,HIGH);
 Applications
• Industrial automated equipment carriers.
• Automated cars.
• Tour guides in museums and other similar
applications.
• Deliver the mail within  the office building
Where is
• Deliver medications in a hospital. this used?
 What are
the
advantages

Advantages

• The robot must be capable of following a line.

• Insensitive to environment factors like noise
and lightning.
• It should be capable of taking various degrees
of turns.
• The color of the line must not be a factor as
long as it is darker than the surroundings.
 What are the
disadvantages
?

Disadvantages
• LFR can move on a fixed track or path.
• It requires power supply.
• Lack of speed control makes the robot
unstable at times.
• Choice of line is made in the hardware
abstraction and cannot be changed by
software.
QUESTIONS
?????
Thank You
By
I.Viswanadh Kasyap