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Line Follower Robot Using Arduino

The document describes an Arduino line follower robot project. It uses IR sensors to sense a black line on a white surface. When both sensors detect white, the robot moves forward. If the left sensor detects black, it turns left, and if the right sensor detects black it turns right. The circuit includes sensor, control, and driver sections. The sensor section uses IR diodes and comparators to detect the line. The Arduino reads the sensor signals and controls the motor driver and DC motors. The code defines conditions to turn or go forward based on sensor input. Required components are an Arduino, motor driver, IR sensors, voltage regulator, and battery.

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Pankaj Jindal
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626 views

Line Follower Robot Using Arduino

The document describes an Arduino line follower robot project. It uses IR sensors to sense a black line on a white surface. When both sensors detect white, the robot moves forward. If the left sensor detects black, it turns left, and if the right sensor detects black it turns right. The circuit includes sensor, control, and driver sections. The sensor section uses IR diodes and comparators to detect the line. The Arduino reads the sensor signals and controls the motor driver and DC motors. The code defines conditions to turn or go forward based on sensor input. Required components are an Arduino, motor driver, IR sensors, voltage regulator, and battery.

Uploaded by

Pankaj Jindal
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Line Follower Robot using Arduino

ARDUINO

Arduino Line Follower Robot Project with Code and Circuit Diagram
Line follower Robot is a machine which follows a line, either a black line or white line. Basically
there are two types of line follower robots: one is black line follower which follows black line and
second is white line follower which follows white line. Line follower actually senses the line and run
over it.

Concepts of Line Follower


Concept of working of line follower is related to light. We use here the behavior of light at black
and white surface. When light fall on a white surface it is almost full reflected and in case of black
surface light is completely absorbed. This behavior of light is used in building a line follower
robot.
In this arduino based line follower robot we have used IR Transmitters and IR receivers also
called photo diodes. They are used for sending and receiving light. IR transmits infrared lights.
When infrared rays falls on white surface, it’s reflected back and catched by photodiodes which
generates some voltage changes. When IR light falls on a black surface, light is absorb by the
black surface and no rays are reflected back, thus photo diode does not receive any light or rays.
Here in this arduino line follower robot when sensor senses white surface then arduino gets 1 as
input and when senses black line arduino gets 0 as input.

Circuit Explanation
The whole arduino line follower robot can be divided into 3 sections: sensor section, control
section and driver section.

Sensor section:
This section contains IR diodes, potentiometer, Comparator (Op-Amp) and LED’s. Potentiometer
is used for setting reference voltage at comparator’s one terminal and IR sensors are used to
sense the line and provide a change in voltage at comparator’s second terminal. Then comparator
compares both voltages and generates a digital signal at output. Here in this line follower
circuit we have used two comparator for two sensors. LM 358 is used as comparator. LM358 has
inbuilt two low noise Op-amps.

Control Section:
Arduino Pro Mini is used for controlling whole the process of line follower robot. The outputs of
comparators are connected to digital pin number 2 and 3 of arduino. Arduino read these signals
and send commands to driver circuit to drive line follower.

Driver section:
Driver section consists motor driver and two DC motors. Motor driver is used for driving motors
because arduino does not supply enough voltage and current to motor. So we add a motor driver
circuit to get enough voltage and current for motor. Arduino sends commands to this motor driver
and then it drive motors.

Working of Line Follower Robot using Arduino


Working of line follower is very interesting. Line follower robot senses black line by using sensor
and then sends the signal to arduino. Then arduino drives the motor according to sensors' output.

Here in this project we are using two IR sensor modules namely left sensor and right sensor. When
both left and right sensor senses white then robot move forward.
If left sensor comes on black line then robot turn left side.
If right sensor sense black line then robot turn right side until both sensor comes at white surface.
When white surface comes robot starts moving on forward again.
If both sensors comes on black line, robot stops.
Circuit Diagram

Complete circuit diagram for arduino line follower robot is shown in the above iamge. As you
can see output of comparators is directly connected to arduino digital pin number 2 and 3. And
motor driver’s input pin 2, 7, 10 and 15 is connected to arduino's digital pin number 4, 5, 6 and 7
respectively. And one motor is connected at output pin of motor driver 3 and 6 and another motor
is connected at pin 11 and 14.

Program Explanation
In program, first of all we defined input and output pin, and then in loop we checks inputs and
sends output according to inputs to output pin for driving motor. For checking input pin we used “if”
statements.

There are four conditions in this line following robot that we read by using arduino. We have used
two sensor namely left sensor and right sensor.

Input Output
Movement
Left Motor Of Robot
Left Sensor Right Sensor Right Motor

LS RS LM1 LM2 RM1 RM2


0 0 0 0 0 0 Stop

0 1 1 0 0 0 Turn Right

1 0 0 0 1 0 Turn Left

1 1 1 0 1 0 Forward

We write the arduino line follower code according to the conditions shown in table above.

Required Components
Arduino
In our Project we have used a microcontroller to control whole the process of system that is
ARDUINO. Arduino is an open source hardware and very useful for project developments. There
are many types of arduino like Arduino UNO, arduino mega, arduino pro mini, Lilypad etc. available
in the market. Here we have used arduino pro mini in this project as arduino pro mini is small and
so breadboard compatible. To burn program we have used FTDI burner.

L293D Motor Driver


L293D is a motor driver IC which has two channels for driving two motors. L293D has two inbuilt
Transistor Darlington pair for current amplification and a separate power supply pin for giving
external supply to motors.

IR Module:
IR Module is sensor circuit which consists IR LED/photodiode pair, potentiometer, LM358, resistors
and LED. IR sensor transmits Infrared light and photo diode receives the infrared light.
Power Supply
I have added a voltage regulator to get 5 volt for arduino, comparator and motor driver. And a 9
volt battery is used to power the circuit.

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