PBL review report

On

“Line Follower Robot Using Arduino”

is submitted to

Department of Mechatronics Engineering

School of Automobile, Mechanical and Mechatronics
Manipal University Jaipur

By

Student Name: Supervisor’s Name:

Avinash Kumar (199403021) Mr. Hemant Kumar

DEPARTMENT OF MECHATRONICS ENGINEERING

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 MANIPAL UNIVERSITY JAIPUR, JAIPUR – 303 007 (RAJASTHAN), INDIA

Date- 28/05/2021

CERTIFICATE

This is to certify that the project entitled Line Follower Robot

Using Arduino was carried out by Avinash Kumar under my
guidance during February 2021 to May 2021 for Project Based
Learning course of B-Tech 2nd Year.

Project Guide, Dept of Mechatronics Engineering

Manipal University Jaipur

Abstract

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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 enough 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 . I have made 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

LINE FOLLOWER

Block Diagram of Line Follower

Here firstly, I chose a configuration to develop a line follower only using two infrared
sensors with connection of Arduino Uno through motor driver IC.

I followed a block diagram on the regard. The block diagram illustrates the connection for
the development of the line follower which follows a black line on white surface.

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 Block diagram of a line follower robot

After that, I have used the following block diagram for connecting two sensors with our line
follower for obstacle detection purpose for our line follower.

EQUIPMENTS USED

1] THE CHASSIS AND THE BODY

The Chassis

Here Some good materials can be used for designing robot chassis such as wood, plastic,
aluminum and brass alloys.

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 2] ARDUINO UNO R3

Arduino Uno R3

What Is Inside an Arduino?

Although there are many different types of Arduino boards available, this manual focuses on
the Arduino Uno. This is the most popular Arduino board around. So what makes this thing
tick? Here are the specifications:
 Processor: 16 MHz ATmega328
 Flash memory: 32 KB
 Ram: 2kb
 Operating Voltage: 5V
 Input Voltage: 7-12 V
 Number of analog inputs: 6
 Number of digital I/O: 14 (6 of them pwm)

Arduino is an open-source platform used for building electronics projects. Arduino consists
of both a physical programmable circuit board and IDE that runs on your computer, used to
write and upload computer code to the physical board. The Arduino IDE uses a simplified
version of C++, making it easier to learn to program.

Arduino Uno pinout - Power Supply

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 Arduino Uno pinout - Power Supply

There are 3 ways to power the Arduino Uno:

 Barrel Jack - The Barrel jack , or DC Power Jack can be used to power our Arduino
board. The barrel jack is usually connected to a wall adapter. The board can be
powered by 5-20 volts but the manufacturer recommends to keep it between 7-12
volts. Above 12 volts, the regulators might overheat, and below 7 volts, might not
suffice.
 VIN Pin - This pin is used to power the Arduino Uno board using an external power
source. The voltage should be within the range mentioned above.
 USB cable - when connected to the computer, provides 5 volts at 500mA.

There is a polarity protection diode connecting between the positive of the barrel jack to
the VIN pin, rated at 1 Ampere. The power source you use determines the power we
have available for your circuit. For instance, powering the circuit using the USB limits
you to 500mA.
5v and 3v3 - They provide regulated 5 and 3.3v to power external components
according to manufacturer specifications.
 GROUND - In the Arduino Uno pinout, you can find 5 GND pins, which are
all interconnected. The GND pins are used to close the electrical circuit and provide a
common logic reference level throughout your circuit. Always make sure that all GNDs
(of the Arduino, peripherals and components) are connected to one another and have a
common ground.
 RESET - resets the Arduino.
Arduino Uno Pinout - Analog IN

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 The Arduino Uno has 6 analog pins, which utilize ADC (Analog to Digital converter).
 These pins serve as analog inputs but can also function as digital inputs or digital
outputs.

3] IC L293D

The most common method to drive DC motors in two directions under control of a
computer is with an H-bridge motor driver. H-bridges can be built from scratch with bi-
polar junction transistors (BJT) or with field effect transistors (FET), or can be
purchased as an integrated unit in a single integrated circuit package such as the L293.
The L293 is simplest and inexpensive for low current motors, For high current motors, it
is less expensive to build your own H-bridge from starch.

L293D Module

Motor driver is basically a current amplifier which takes a low-current signal from the
microcontroller and gives out a proportionally higher current signal which can control
and drive a motor. L293D IC generally comes as a standard 16-pin DIP (dual-in line
package). This motor driver IC can simultaneously control two small motors in either
direction; forward and reverse with just 4 microcontroller pins.

4} IR SENSOR

Infrared Ray Sensors are used to find out the position of a line follower with respect to
the robot position. For line sensing operation, IR sensors are the one which are widely
used for the development of a line follower robot. There are some basic things to follow
where white surface of the black line reflects light and the black line receives it after the
transmission. Two resistors R1 and R2 are used which limits current. Other resistors
(R3, R5, R6, R8) forms individual voltage divider networks which is in connection with
the designed LDR’s. When the sensor is properly classified, both LED/LDR pairs will
run over the white surface. In this condition, sufficient amount of light gets reflected
back to the LDRs. So, their resistance will be low. So the voltage dropped across the
LDR will be low. When the robot is drifted to one side, the sensor in the opposite side

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 falls over the black line and the intensity of light reflected back to the corresponding
LDR will be low. As a result, the resistance of the LDR shoots up and the voltage
dropped across it will be high. The voltages dropped across the right and left LDRs
(nodes marked R and L in the above circuit) are given as input to the analogue input pins
A3 and A4 of the Arduino board. The line sensors are made using LDR and LED for
making a line follower robot. A 1K resistor across the LED, a series connection of 10K
resistor and 10K variable with the LDR are major resistive and sensor connections.
These sensors are soldered in a board (Chassis) and then we use that for our system. It is
powered by (4*1.5) V battery.

IR Sensor

PROCEDURE OF SENSING THE LINE

The line follower robot is a kind of a design which is similar as a light follower
robot. Here, besides sensing the light, the sensor is used for detection of a line.
Therefore, by individualizing the color of line and its enclosing, any light sensitive
sensor could be used for navigation of the robot to follow its designated track. The
design of the robot was made like; it had one pair of Infrared ray sensor fitted
underneath the robot. So Infrared ray sensor will first be sending a wavelength for
detecting black line and then other infrared ray sensor will be receiving the information
and take decision for following a black line on white surface. With the supply from an
9V DC power adapter the whole sensor and the motor driver IC and the motors and
Arduino are powered. Making the setup less prone to power failure The outputs of the
sensor circuits are connected as in the analog inputs of the Arduino board.

LINE FOLLOWER APPLICATION IN AUTOMATIC VALET PARKING

EQUIPMENTS REQUIRED
1] Line Follower
2] Sharp Ir Sensor
3] LCD Display
4] Flag (for detection)
5] Arena

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 Sharp IR Sensor
Sharp IR Sensor is a long-range Infrared distance measuring sensor -unit capable of
measuring distance from 100 to 500cm. IR Sensors work by using a specific light sensor
to detect a select light wavelength in the Infra-Red (IR) spectrum. By using an LED
which produces light at the same wavelength as what the sensor is looking for, you can
look at the intensity of the received light. When an object is close to the sensor, the light
from the LED bounces off the object and into the light sensor. This results in a large
jump in the intensity,

Sharp Ir Sensor

The output from the Arduino is displayed on the LCD Display .It shows the desired data from the
Arduino board. In the above fig when all the visitor slots are occupied. Since the robot enters the
parking lot as a visitor it will not find any slot to park itself. In this case, the robot has to stop at
the OUT position, sound the buzzer and display the number of available resident slots as in the
previous case; but, besides “V” label it should display NO SPACE

Flags

Flags are placed in the slots to detect the distance from the Sharpe IR Sensor. Based on the
distance the slots are differentiated

Slot: -

Each slot belongs to one of two types: -

1. Resident slot- Reserved for the residents, marked by red flag or

2. Visitor slot- Available for visitor, marked by a green flag.

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Arena

The arena for this theme is a simplified version of a parking lot having 9 slots. Where the robot
will follow the path and detect each type and state of slot of the arena.Flags are placed in each
slot. Here slots 1, 2, 3, 5, 6 and 8 are resident slots and slots 4, 7 and 9 are visitor slots.

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.

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

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

[3] Retrived from circuitstoday.com www.duino4projects.com, techfeasta.com, [4] Mobile

Robot. Retrieved From https ://en.wikipedia. org/wiki /Mobile_ robot

[5] letsmakerobots.com

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