line following robot proposal


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line following robot proposal


Abstract

The line following is a classic introductory robot design and requires minimal amount of resources. This robot uses Microcontroller control. This robot is intended to showcase basic sensor design and robot control system in the form of a small autonomous robot which can follow a black line over white surface.

            A proposal for a line following robots and their relevance to engineering and society is given.  A project design for a line following robot is presented and discussed.  The project description is given, as well as the project approach, experiments to be run, and a proposed schedule for completing the robot.

The vehicle is supposed to have a low-resolution sensors and actuator. The control requirement, however, is specified so as to keep the vehicle as close as possible to the center of the line. The controllability issues are investigated, A multiple IR sensor based control algorithm is investigated for straight as well as curved paths. Experimental result is shown to demonstrate the usefulness of our idea. .

 

 

Final report using iandroid,line following robot 

line following,code in assembly language ,89s59,89s52 


 
1. Introduction
For my project, I decided to make a line-follower robot. This simple robot is designed
To be able to follow a black line on the ground without getting off the line too much. The robot has two sensors installed underneath the front part of the body, and two DC motors drive wheels moving forward. A circuit inside takes an input signal from two sensors and controls the speed of wheels’ rotation. The control is done in such a way that when a sensor senses a black line, the motor slows down or even stops.  Then the difference of rotation speed makes it possible to make turns. For instance, in the figure on the right, if the sensor somehow senses a black line, the wheel on that side slows down and the robot will make a right turn.






line following robot

Fig (i) Block diagram of line following robot



2) Objective
  The objective of this project is as follows:-
1) To develop a robot that moves through a dark line on light back ground.
2) To make the device automatically tracking the particular path.



3) Scope
i) Software control of the line type i.e. dark or light to make automatic detection possible.
ii) Obstacle detecting sensors to avoid physical obstacles and continue on the line.
iii)Distance sensing and position logging & transmission.



4) Application.
Basically, a line-following robot is a self-operating robot that detects and follows a line drawn on the floor. The path to be taken is indicated by a black line on a white surface. The control system used must sense the line and moreover the robot to stay on course while constantly correcting the wrong moves using feedback mechanism, thus forming a simple yet effective closed-loop system. Some of examples of its application are as follows:-
      Industrial automated equipment carriers.
      Automated cars.
      Tour guides in museums and other similar applications.
      Second wave robotic reconnaissance operations.




5) Literature review
The entire word is experiencing the burgeoning interest in the field of technology.
Considering the revolutionary development on the robotics world we themed our project on robot control.
Being the member of engineering society we play a vital role in changing the society according to the time and need and hence to make life easier and better we forwarded the project.
Our project entitled line tracking robot is not and original invention we made. At different times in the past we believe several attempts made by other on the theme of Roberts .But we have used our theoretical knowledge of various electronics components to implement practically in the real world and proud to forward this project on our own research ,study   and efforts.

6) SOFTWARE AND HARDWARE
It consists of mainly four parts: two sensors, two comparators, one decision-making device and two motor drivers. The robot is built using microcontroller (used as the decision-making device), motor driver, operational amplifier (comparator), phototransistor (sensor) and a few discrete components.
In the circuit, the sensors (phototransistors) are used to detect the white strip on a black background. The sensor output is fed to the microcontroller, which takes the decision and gives appropriate command to motor driver so as to move the motor accordingly.
 Sensor:  The sensor senses the light reflected from the surface and feeds the output to the comparator. When the sensor is above the white background the light falling on it from the source reflects to the sensor, and when the sensor is above the black background the light from the source doesn’t reflect to it. The sensor senses the reflected light to give an output, which is fed to the comparator.
 Comparator:  The comparator compares the analogue inputs from sensors with a fixed reference voltage. If this voltage is greater than the reference voltage the comparator outputs a low voltage, and if it is smaller the comparator generates a high voltage that acts as input for the decision making device (microcontroller)
      Microcontroller: The microcontroller is programmed to make the robot move forward, turn right or turn left based on the input coming from the comparator. The outputs of the microcontroller are fed to the motor driver.
Motor driver: The current supplied by the microcontroller to drive the motor is small. Therefore motor-driver IC is used. It provides sufficient current to drive the motor.
                 For the software we will choose the appropriate language with the suitable features for our project and that has the compiler suitable for our microcontroller


Expected result:-
1) The robot follows a line as demonstrated.
     2)  It effectively overcomes problems such as “barren land syndrome” and line breaks.
      3) The hardware and software works as designed.



7) Gantt chart


 








                         Table (iii): project table cost













Conclusion
By creating the line-following robot, we can learn the basics of energy flow and exactly what building a circuit entails. We can get idea how voltage is potential energy, and how wires can run in series or in parallel depending on how many points the wires share. We understood the purpose of resistors, to transform excess energy into heat, and we discovered the function of transistors, the comparator, variable resistors, photo headlights, diodes, motors, and light emitting diodes (LEDs). In future we can also include other modules and make our Robert more advance and increase its implementation in various other field like fire detection ,road clearance etc
Bibliography



1)      Programming and Customizing the PIC microcontroller by Myke Predko
            PICmicro Mid-Range MCU Family Reference Manual by MICROCHIP
2)      PIC Robotics, A beginner’s guide to robotics projects using the PICmicro by John Malvirine  
3)      Plermjani inchuay, line follower robot: http://chaokhun.kmitl.ac.th/~kswichit/LFrobot/LFrobot.htm
4)      MUKUND22R, automated line following robot: http://letsmakerobots.com/node/31206

         



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