Line Following Robot

Index

• Introduction• Components • Working Principle• Block Diagram• Application• Advantages and Disadvantages• Programming on Arduino

Let’s Discuss

Introduction

What is a Robot

A Robot is a machine capable of carrying out a complex series of actions automatically, especially one programmable by a computer.

Line Following Robot

What is a Line Following Robot

Line following Robot is a machine that can follow a path. The path can be visible like a black line on a white surface or it can be invisible like a magnetic field.

What is the need to build line following Robot?

Sensing a line and maneuvering the robot to stay on course, while constantly correcting wrong moves using feedback mechanism forms a simple yet effective closed loop system.

Components

What are we using?•Arduino

•IR Sensor•IC L293D•Motors•LFR Chassis

ArduinoArduino 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.

MotorsThe motors rotate clockwise and anti-clockwise based on the program. In the motor electrical energy is converted into mechanical energy.

Working PrincipleThe 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.

Left IR Sensor Right IR Sensor Motion

1 1 Forward

1 0 Right

0 1 Left

0 0 Reverse

Motor Logic

Block Diagram

Programming on Arduinoint a=6,b=7;void setup(){ pinMode(a,INPUT); pinMode(2,OUTPUT); pinMode(3,OUTPUT); pinMode(b,INPUT); pinMode(4,OUTPUT); pinMode(5,OUTPUT); Serial.begin(9600);}void loop(){if((digitalRead(a)==HIGH)&&(digitalRead(b)==HIGH)) { digitalWrite(2,HIGH); digitalWrite(3,LOW); digitalWrite(4,LOW); digitalWrite(5,HIGH); Serial.println("FORWARD");delay(1); } else if((digitalRead(a)==LOW)&&(digitalRead(b)==HIGH)) { digitalWrite(2,LOW); digitalWrite(3,HIGH);

digitalWrite(4,LOW); digitalWrite(5,HIGH); Serial.println("LEFT");delay(1); } else if((digitalRead(a)==HIGH)&&(digitalRead(b)==LOW)) { digitalWrite(2,HIGH); digitalWrite(3,LOW); digitalWrite(4,HIGH); digitalWrite(5,LOW); Serial.println("RIGHT");delay(1); } else if((digitalRead(a)==LOW)&&(digitalRead(b)==LOW)) { digitalWrite(2,HIGH); digitalWrite(3,LOW); digitalWrite(4,LOW); digitalWrite(5,HIGH); Serial.println("BACK");delay(1); } }

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. Where is

this used?

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

advantages

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.

What are the disadvantages

?

QUESTIONS?????

Thank YouBy

I.Viswanadh Kasyap