Project report on:

Line Follower Robot

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Prepared By:

Joshi Chintan A. (08BEC157)

Gareta Pravin (08BEC156)

For:

Micro Controller Lab

[2EC314]

Guided by:

Prof. Dhaval Shah

Institute Of Technology
Sarkhej-Gandhinagar Highway,

Ahmedabad-382481

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 Line Follower Robot

» A line follower is an autonomous line follower that can follow a specific coloured line painted
on a surface of different contrast, such as white on black.
» To start with first of all I will be discussing a small concept of light. I believe you all know that
the light that strikes any platform is reflected.
» The reflection and absorption coefficient of light depend upon material, color of platform and
other factors. In simple words the black surface absorbs the light and the white surface reflects
it, this is the basic concept behind making a line follower.

» So the line follower has an emitter and a reflector. The reflector receives the light and generates
a voltage proportional to the intensity of the light, if this voltage is above a threshold it means
SIGNAL=1 (logic one) else SIGNAL= 0 (logic zero).

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 » Let’s take up an example where we have to move our line follower on black surface having
white line. Suppose I have two Infra Red (IR) sensor pairs that are on different halves of a line
follower with respect to geometrical central axis of the line follower.
» The sensors are placed in such a way that the white line lies in between both the sensors when
the line follower is placed on the white track painted on black surface to move.
» Now if the white line is between both the sensors while moving forward both the sensors will
be on black surface and the detectors/receivers will receive less amount of light since black
absorbs light and hence signal provided by both the infra-red receivers will be low.
» Now if the heading/direction of the white line changes one of the sensors will move in
the region of white line and will start giving output signal as high.
» This information can be used to ‘turn’ the line follower and orient itself in the right
direction.
» For example in the above figure if the line follower is located in position 1, then line follower will
move forward and if the line follower is in position 2 it will have to turn left .

Components

 Power Supply :5V/12V DC

 Micro controller :Atmel AT89S52

 Inverter IC

 Proximity metal sensor.

 DC motors(12V DC)

 DC motor driver (L293D)

 IR transmitter and IR receiver.

 Switch

Line follower is made-up of following components:

1.) Chassis of robot

2.) Electronics/Hardware Designing

3.) Programming/Software Designing

CHASSIS OF ROBOT

1.) Base of robot: The base or the material of the platform of robot can be made with any easily
available material like switch board, wood, acrylic sheet or steel sheet. As our robot will be very
light, you don’t have to think a lot on strength and other such factors. We will just recommend
you to make a small size and light weight line follower. Here we are using, steel base:

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2.) Motors and Driving Mechanism:

» We will need a set of two motors that have same rpm (revolution per minute).
» We will be using differential drive for maneuvering our line follower i.e. we will have
three wheels for our line follower, the front two will be powered and the rear will be
free wheel.
» When the line follower is moving straight both the motors should have equal speed.
» For turning, one of the motor is switched off. If we switch off the left motor, the line
follower will turn left and vice versa.

3.) Coupling wheels & clamping motors: -

Op-Amplifier (LM324):

If the rays received by the IR- LED receiver are above a particular threshold then an amplified
signal is generated by the amplifier (LM324). Note that the sensors cannot directly send a signal to
the microcontroller as the signal voltage generated by them is too low and even when sensors are
on white surface signal generated by them will interpreted low by the microcontroller.

Microcontroller (AT89S52)

The microcontroller receives the signal and responds accordingly. It takes the decision based
on input signal received by both the receiver LEDs. It will give command to motors through H-bridge
to move forward, or take a left turn or a right turn.

H-bridge (L293B)

The microcontroller sends a signal to the H-bride that acts as a switch. If the signal received
by the H-bridge is high it will rotate the motor or else it won’t do so. Note that microcontroller only
sends a signal to a switch which gives the voltage required by the motor to rotate. Here we are using
L293B which can be used to control two motors.

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Circuit Diagram :

Program:
#include<reg51.h>

sbit ip1=P1^0;
sbit ip2=P1^1;
sbit op1=P2^0;
sbit op2=P2^1;

void main(void)
{

while(1)
{
if(ip1)
{
op1=1;

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 if(ip2)
{
op2=1;
}
else
{
op2=0;
}
}

else
{
op1=0;
if(ip2)
{
op2=1;
}
else
{
op2=0;
}
}
}
}

Conclusion:

From this project we have studied how to interface micro controller with other devices.
We also acknowledged about how to dump program in the controller. Our soldering skill is
also improved. We learn many things from this project.