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Line Following Robot

The document describes the design and implementation of a line following robot (LFR). The LFR uses an array of IR sensors connected to a PIC microcontroller to detect a dark line on the ground and follow it. The microcontroller processes the sensor signals and controls an H-bridge motor driver to power the left and right wheels. The LFR is capable of following lines with turns and continuing even if the line is broken. It is insensitive to lighting and environmental conditions. The design provides a basic platform for automated guided vehicles and future improvements in navigation capabilities.

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Kiruba Karan
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124 views

Line Following Robot

The document describes the design and implementation of a line following robot (LFR). The LFR uses an array of IR sensors connected to a PIC microcontroller to detect a dark line on the ground and follow it. The microcontroller processes the sensor signals and controls an H-bridge motor driver to power the left and right wheels. The LFR is capable of following lines with turns and continuing even if the line is broken. It is insensitive to lighting and environmental conditions. The design provides a basic platform for automated guided vehicles and future improvements in navigation capabilities.

Uploaded by

Kiruba Karan
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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LINE FOLLOWING ROBOT

BY S.Kirubakaran P.Krishnaraj S.I.Manimaran P.Manikandan

What is a robot?
Robots are machines which do a task
which would otherwise be done by human labor. Robots may or may not possesses intelligence.

TYPES OF ROBOTIC INTELLIGENCE

Expert systems

Neural Systems

THE LINE FOLLOWING ROBOT (LFR)

REQUIREMENT OF THE LFR


The robot must be capable of following a line. It should be capable of taking various degrees of turns It must be prepared of a situation that it runs into a

territory which has no line to follow. (Barren land syndrome) The robot must also be capable of following a line even if it has breaks. The robot must be insensitive to environmental factors such as lighting and noise. It must allow calibration of the lines darkness threshold. Scalability must be a primary concern in the design. The color of the line must not be a factor as long as it is darker than the surroundings.

THE BLOCK DIAGRAM


Clock 4 MHz Main Power Supply Motor Power Supply Left Motor Right Motor

PIC 16F873 Microcontroller

HEX Inverter

H - Bridge DC Motor Control

Priority Encoder

Analog Comparators

Threshold Voltage

NOR Gate

Sensor Array

H-BRIDGE MOTOR CONTROL

H-BRIDGE MOTOR CONTROL

H-BRIDGE USING TRANSISTORS

H-BRIDGE WITH SPEED CONTROL

PWM SPEED CONTROL

THE PIC MICRO CONTROLLER (PIC 16F873)



RISC ARCHETECTURE 1 WORD INSTRUCTION LENGTH FIXED INSTRUCTION EXICUTION TIME 3 PORTS (A, B & C) 2 CCP (CAPTURE, COMPARE & PWM) MODULES 192 BYTES DATA RAM & 128 BYTES OF EEPROM DATA MEMORY UPTO 13 INTERRUPT SOURCES 3 TIMERS Power saving SLEEP mode A/D CONVERTOR

PICMICRO CCP MODULES IN PWM MODE

THE SCHEMATIC

HARDWARE DESCRIPTION

THE POWER SUPPLY

MOTORS

Motor speed = 2400 rpm @ 6v Using gears the speed is reduced to 30 rpm @ 6v. The motors are run at 12v, so an effective speed of 60 rpm is achieved, with a considerable increase in torque.

THE H-BRIDGE CONTROL HARDWARE

STATE TABLE
IN1 1 0 1 IN2 0 1 0 IN3 1 0 0 IN4 OPERATION 0 1 1 BOTH MOTORS FORWARD (MOVE FORWARD) BOTH MOTORS BACKWARD (MOVE BACKWARD) RIGHT MOTOR BACKWARD LEFT MOTOR FORWARD (TURN RIGHT) RIGHT MOTOR FORWARD LEFT MOTOR BACKWARD (TURN LEFT)

THE IR SENSORS

Interrupter sensor modified to be a reflective sensor ~950nm wavelength Lens fitted to emitter and detector of focal length of 4mm

SENSOR CIRCUIT

SENSOR ARRAY

MINIMUM DISTANCE BETWEEN SENSORS IS 1cm

INPUTS TO THE MICROCONTROLLER


NS GS A2 A1 A0 STATE IN ACTION

1 0

X 1

X X

X X

X X

No surface is detected No line is detected

Stop the motors Execute the no line code (specially designed algorithm) Sharp turn left Sharp turn right Turn left Turn right Move left Move right Go straight Software reset the processor

0 0 0 0 0 0 0 0

0 0 0 0 0 0 0 0

0 0 0 0 1 1 1 1

0 0 1 1 0 0 1 1

0 1 0 1 0 1 0 1

A detects the line B detects the line C detects the line D detects the line E detects the line F detects the line G detects the line Forbidden state

PROCESSES INVOLVED

LINE FIND MODE

FLOW CHART

APPLICATIONS
Industrial automated equipment carriers Automated cars. Tour guides in museums and other similar
applications. Second wave robotic reconnaissance operations.

LIMITATIONS
Choice of line is made in the hardware
abstraction and cannot be changed by software. Calibration is difficult, and it is not easy to set a perfect value. The steering mechanism is not easily implemented in huge vehicles and impossible for non-electric vehicles (petrol powered). Few curves are not made efficiently, and must be avoided.

LIMITATIONS
Lack of a four wheel drive, makes it not
suitable for a rough terrain. Use of IR even though solves a lot of problems pertaining to interference, makes it hard to debug a faulty sensor. Lack of speed control makes the robot unstable at times.

FUTURE SCOPE
Software control of the line type (dark or
light) to make automatic detection possible. Obstacle detecting sensors to avoid physical obstacles and continue on the line. Distance sensing and position logging & transmission.

RESULT AND CONCLUSION


The robot follows a line as demonstrated. It effectively overcomes problems such as
barren land syndrome and line breaks. The hardware and software works as designed.

Thank you

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