Line Follower Robot
Line Follower Robot
Line Follower Robot
PROJECT
(summer training)
ABOUT PROJECT
*A Robot is any machine which is completely automatic, i.e.
it starts on its own, decides its own way of work and stops on
its own.
*Robots are of two type i.e. i) fixed robots ii) mobile robots
*Mobile Robots are robots with a mobile base which makes
the robot move freely in the environment. One of the
advanced mobile robots is the Line Follower Robot. It is
basically a robot which follows a particular path or trajectory
and decides its own course of action which interacts with
obstacle.
*The most important aspect of its working is to control the
robot. Here the control refers to controlling of robot motion
i.e. controlling the movement of the wheels. By controlling
the rotation of wheels we can control the motion of robot
along this path, which are placed on the shafts of the two
motors. So, the basic control is achieved by controlling the
motors. The control circuitry involves the use of sensors to
sense the path and the microcontroller or any other device to
control the motor operation through the motor drivers,
based on the sensor output.
There are two ways in which a line follower robot can be
controlled:-
i) Without microcontrollers
ii) With microcontrollers
However we have used AVR microcontroller
ATMEGA16 for calibrating the robot.
ABOUT COMPONENTS:
Development Board
A general purpose 40 pin AVR development
board with 16x2 LCD support, power supply circuit,
RS232 port for serial interface with computer and
other serial devices, reset switch, power status LED,
a 6 pin ISP header and 4 x general purpose LEDs and
Switches.
The board is compatible with the Atmega16,
Atmega32 and other compatible 40 pin AVR
microcontrollers.
WORKING PRINCIPLE
As we know that line follower robot is a self operating
robot. It detects a line and follows that line drawn on
a area. The line is indicated by white line on a block
surface or block line on a white surface. This
application is dependent upon sensors for its working.
For path detection we have used two IR sensors i.e
proximity sensor and IR sensor. The proximity sensor
is used for path detection and IR sensor is used for
obstacle detection.
Algorithm:
1. L= leftmost sensor which reads 0;
2. R= rightmost sensor which reads 0.
3. If no sensor on Left (or Right) is 0 then L (or R)
equals 0;
4. Here L=3 R=0 Left Center Right Here L=2 R=4
2.
5. If all sensors read 1 go to step 3,
else,
If L>R Move Left
If L<R Move Right
If L=R Move Forward
Goto step 4
6. Move Clockwise if line was last seen on Right Move
Counter Clockwise if line was last seen on Left Repeat
step 3 till line is found.
4. Goto step 1.
Advantages:
Source Code
/*****************************************************
#include<avr/io.h>
#define leftSen PA0 //Connect Left Sensor At
PA0
#define rightSen PA1 //Connect Right Sensor
At PA1
int main(void)
{
DDRA=0xFC; // make PA0,PA1 as input for
both sensors 0x0b11111100
DDRC=0xFF; // make Port as output to connect
motor pins
while(1)
{
PINA=0x03; //initialize PA0 and PA1
if(bit_is_clear(PINA,leftSen)){ // check if left
sensor is OFF
FUTURE WORK:
Line following robot based health care management
system can play a vital role in the field of hospitality.
Robotics is a grooming technology. By using robot in
the government and private hospitals the cost for
the cure can be reduced. It can be very beneficially
for the patients.
In India many people hesitate to admit in the
hospital because of costly medical
practitioner. Monitoring of every patient is very
difficult for the nurses in the hospital. So a camera
can be placed in the line following robot, from which
the status for every patients can be handle from a
single room. In the bed of the patient an
accelerometer can be placed from which if a patient
have a heart attack then that device can operate a
alarm circuit.
Line following robot's application over electronics
engineering can't be underestimated. This line
following robot can be use as carrying the load and
many more applications. A GSM module can be
placed with the line following robot so that if any
mishappening occurs then that system can make a
call to the doctor.
Robotics is very big field for the new innovation and
research. By using the robot in real time
applications, a health care system can be manage in
an effectively way.
PROJECT RESULT:
ROBOT MOVEMENT LEFT MOTOR RIGHT MOTOR
straight straight straight
left stop straight
Sharp left reverse straight
right straight stop
Sharp right straight reverse
reverse reverse reverse