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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.
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.
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.
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.
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
.
Some Importantant links below with reports.just view the link below you will like ;it
Arduino interesting projects:
Arduino 30 simple and good projects
Atmega projects lists
Android Electronics projects lists
Rf based Projects with reportill like it.
Bluetooth based projects with reports
Some Importantant links below with reports.just view the link below you will like ;it
Arduino interesting projects:
Arduino 30 simple and good projects
Atmega projects lists
Android Electronics projects lists
Rf based Projects with reportill like it.
Bluetooth based projects with reports
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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its cool