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ayush.ideal.2
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© © All Rights Reserved
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An Internal Assignment on

Object Following Robot


submitted for the partial fulfilment of the requirements of the subject

Emerging Technology Course


(Subject Code: 22ETC15)

Submitted by:
Ayush (E09)
Bhanuteja(E63)
Reeshav(E54)
Bhavdeep(E11)

DEPARTMENT OF APPLIED SCIENCE


CERTIFICATE

This is to certify that the assignment work on,


Object Following Robot has
been carried out by the students,

Ayush (E09)
Bhanuteja(E63)
Reeshav(E54)
Bhavdeep(E11)

and submitted for the partial fulfilment of the requirements of the subject,
Emerging Technology Course (Subject Code: 22ETC151)

Mr. Rajesh A
Assistant Professor
Department of Mechanical
Engineering
NHCE, Bangalore
CHAPTER 1

ABSTRACT

In the vast world of electronics and engineering, our team embarked on a


journey fueled by passion, curiosity, and the desire to create something truly
extraordinary. One idea stood out like a shining beacon: the Object-
Following Robot.

The spark that ignited our fascination with the Object-Following Robot was
not merely about circuitry or programming, but rather the prospect of
creating a companion that could follow us on our journeys, mirroring our
every move. It's an idea that tugs at the strings of imagination, reminiscent
of childhood dreams where our toys would magically come to life.

Our choice was not solely based on the technical challenges involved,
though there were plenty. It was about the enchantment of witnessing an
inanimate creation come to life, embodying the spirit of innovation and
breaking free from the limitations of conventional thought. The Object-
Following Robot was our canvas, and we were the artists painting a picture
of connection and synergy between the human heart and the electronic.

In conclusion, the Object-Following Robot project serves as more than a


technical pursuit; it is a manifestation of our belief in the harmonious
integration of technology and emotion. As we embark on this endeavor, we
invite all to witness the synthesis of artistry and engineering, a testament to
the prospect of shared journeys with an electronic companion—an exemplar
of innovation that transcends the confines of conventionality.
CHAPTER 2

COMPONENTS USED

Components Used:
• Arduino uno
• 2 IR sensors
• L298n motor driver
• Chassis
• Bo motors
• Lithium-ion battery
• 4 wheels
• Connecting wires/Jumper wires
• Bread board
• Switch
CHAPTER 3

BLOCK OF CODE/CIRCUIT DIAGRAM


(WITH EXPLANATION)

Circuit Diagram:
• IR Sensors – To detect the objects

• DC Supply – To power the robot

• Switch – To turn the robot ON/OFF

• Bo Motors – To turn the wheels/moving parts of the robot.

• L298n Motor Driver – To control the motors via the Arduino.

• Arduino UNO – The Arduino Uno is a microcontroller board that provides a


platform for programming and controlling various electronic components.

Code:

#define IR_SENSOR_RIGHT 11
#define IR_SENSOR_LEFT 12
#define MOTOR_SPEED 180
//Right motor int
enableRightMotor=6; int
rightMotorPin1=7; int
rightMotorPin2=8;

//Left motor int


enableLeftMotor=5; int
leftMotorPin1=9; int
leftMotorPin2=10;

void setup()
{
//The problem with TT gear motors is that, at very low pwm value it does not even rotate.
//If we increase the PWM value then it rotates faster and our robot is not controlled in that
speed and goes out of line. //For that we need to increase the frequency of analogWrite.
//Below line is important to change the frequency of PWM signal on pin D5 and D6
//Because of this, motor runs in controlled manner (lower speed) at high PWM value.
//This sets frequency as 7812.5 Hz.
TCCR0B = TCCR0B & B11111000 | B00000010 ;
// put your setup code here, to run once:
pinMode(enableRightMotor, OUTPUT); pinMode(rightMotorPin1,
OUTPUT); pinMode(rightMotorPin2, OUTPUT);

pinMode(enableLeftMotor, OUTPUT); pinMode(leftMotorPin1,


OUTPUT); pinMode(leftMotorPin2, OUTPUT);

pinMode(IR_SENSOR_RIGHT, INPUT);
pinMode(IR_SENSOR_LEFT, INPUT); rotateMotor(0,0);
}

void loop()
{ int rightIRSensorValue = digitalRead(IR_SENSOR_RIGHT); int
leftIRSensorValue = digitalRead(IR_SENSOR_LEFT);

//If none of the sensors detects black line, then go straight if (rightIRSensorValue ==
LOW && leftIRSensorValue == LOW)
{
rotateMotor(MOTOR_SPEED, MOTOR_SPEED);
}
//If right sensor detects black line, then turn right
else if (rightIRSensorValue == HIGH && leftIRSensorValue == LOW )
{
rotateMotor(-MOTOR_SPEED, MOTOR_SPEED);
}
//If left sensor detects black line, then turn left
else if (rightIRSensorValue == LOW && leftIRSensorValue == HIGH )
{
rotateMotor(MOTOR_SPEED, -MOTOR_SPEED);
}
//If both the sensors detect black line, then stop else {
rotateMotor(0, 0);
}
}
void rotateMotor(int rightMotorSpeed, int leftMotorSpeed)
{
if (rightMotorSpeed < 0)
{
digitalWrite(rightMotorPin1,LOW); digitalWrite(rightMotorPin2,HIGH);
}
else if (rightMotorSpeed > 0)
{
digitalWrite(rightMotorPin1,HIGH); digitalWrite(rightMotorPin2,LOW);
} else
{
digitalWrite(rightMotorPin1,LOW); digitalWrite(rightMotorPin2,LOW);
}

if (leftMotorSpeed < 0)
{
digitalWrite(leftMotorPin1,LOW); digitalWrite(leftMotorPin2,HIGH);
}
else if (leftMotorSpeed > 0)
{
digitalWrite(leftMotorPin1,HIGH); digitalWrite(leftMotorPin2,LOW);
} else
{
digitalWrite(leftMotorPin1,LOW); digitalWrite(leftMotorPin2,LOW);
}
analogWrite(enableRightMotor, abs(rightMotorSpeed));
analogWrite(enableLeftMotor, abs(leftMotorSpeed)); }
CHAPTER 4

WORKING PRINCIPLE

An object-following object typically refers to a robot or a


vehicle designed to follow an object or person, often
represented by a hand in-front of the sensors. The
working principle involves the use of sensors, control
systems, and actuators to navigate and track the specified
object. Here's a general overview of the working
principle:

Sensors:

o IR Sensors: The robot is equipped with sensors, which are


usually infrared sensors or other types of proximity
sensors. These sensors are positioned on the front of the
robot to detect the object placed in-front of them (usually
a hand or an object)

Data Processing:

o Microcontroller or Processor: The sensor data is fed into a


microcontroller or a processor on the robot. The
microcontroller processes the incoming information to
determine the position of the line relative to the robot.
Control System:

o PID Controller: A Proportional-Integral-Derivative (PID)


controller is commonly used to maintain the robot's
position. The PID controller calculates the error (deviation
from the center of the line), adjusts the motor speeds
based on this error, and ensures the robot follows the
object.

Actuators:

o Motors: The control system outputs signals to the motors


that drive the wheels or other propulsion mechanisms. By
adjusting the speed or direction of the motors, the robot
can make corrections to follow the object.

Feedback Loop:

o The process involves a continuous feedback loop. The


sensors detect the object, the microcontroller processes
this information, the control system adjusts the motors,
and the robot moves accordingly. This cycle repeats
rapidly to allow the robot to continuously follow the
object.

Adjustments and Calibration:

o The system may include mechanisms for calibrating and


adjusting sensitivity. This ensures that the robot can adapt
to different lighting conditions or variations in the object
appearance.

Power Supply:

o The robot is powered by a suitable power source, which


can be batteries or another form of energy storage.

Programming or Learning:

o In some cases, the robot may be programmed with


specific algorithms to handle complex tasks or adapt its
behavior over time. Machine learning techniques may be
employed for more sophisticated object-following
behavior.

IN SUMMARY, the object-following robot uses sensors


to detect the path, a control system to process the sensor
data and make decisions, and actuators to physically
adjust its movement based on those decisions. The PID
control loop is a key component that helps maintain the
robot's position on following the object.
CHAPTER 5

RESULT & CONCLUSION

Results: o Object Following


Capability:
The object-following robot successfully maintains an optimal
distance from the target object, demonstrating a reliable and
effective following capability.
o Accuracy and Precision:
The robot exhibits high accuracy and precision in its movements,
consistently staying on course and promptly adjusting to changes
in the object's position.
o Speed and Responsiveness:
The robot demonstrates impressive speed and responsiveness,
ensuring quick adaptations to the object's movements without any
noticeable delays or overshooting.

Conclusions:
o Successes and Achievements:
The robot is really good at staying close to the object it's
supposed to follow. It doesn't lose track and follows it around
effectively. The robot is quick on its feet as it responds fast to
changes in the object's movements.

o Uses:
1)A smart luggage trolley at railway station/bus
station/Airport that automatically moves on battery and
motor and it follows the owner

2) A smart cart at any departmental store or


supermarket that follows the customer who has
taken it

3)A smart luggage bag that is paired with the owner’s


smartphone it automatically follows the owner

Summing it up, the robot is good at following things around,


learning from challenges, and can be useful in many different
situations.

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