Shri Guru Gobind Singhji Institute of Engineering and

Technology (SGGSIET), Nanded

Department of Electrical Engineering

MINI PROJECT REPORT

Line following robot using Arduino UNO

A third year project report submitted in partial fulfilment
of the requirements for the degree of Bachelor of
Engineering

Performed by:

1. Gajanan Vasantrao Mirase [2020BEL015]

2. Harshil Manish Mange [2020BEL036]
3. Omraj Rupeshrao Deshmukh [2020BEL037]
4. Saransh Rajkumar Parthe [2020BEL027]
5. Suraj Vishnu Ghongade [2020BEL014]

(signature)
Guided by :-
Prof. C. W. Jadhao
 ABSTRACT

A Line Following Robot is an autonomous robot which is able to follow either a

black or white line that is drawn on the surface consisting colours. It is designed to move
automatically and follow the made plot line. The robot uses several sensors to identify the
line thus assisting the robot to stay on the track. This project aims to implement the algorithm
and control the movement of their robot by proper tuning of the control parameters and thus
achieve better performance.
 ACKNOWLEDGEMENT

We wish to express our profound and deep sense of gratitude to Mr. Ajay
khandelote, Co-Ordinator, Department of Electrical Engineering for sparing his valuable
time to extend help in every step of our project work.
We whole heartedly express our thanks to, Mr. C. W. Jadhao, Project Supervisor,
Department of Electrical Engineering, for sparing time to go through every tiny detail and
give his valuable suggestions to make this project and report a success.
We are mainly indebted to the authors of many references and articles which were used as
the reference.
Last but not the least we would like to thank our friends and family for their help
in every way for the success of this project report.
 CHAPTER 1

1.1 INTRODUCTION

Line follower is a machine that can follow a path. The path can be visible like a
black line on a white surface. Sensing a line and maneuvering the robot to stay on course,
while constantly correcting wrong moves using feedback from the sensor forms a simple
yet effective system. It can be used in automobile, industrial automations, guidance.
In the industry carriers are required to carry products from one manufacturing
plant to another which are usually in different buildings or separate blocks. Conventionally,
carts or trucks were used with human drivers. Unreliability and inefficiency in this part of
the assembly line formed the weakest link. The project is to automate this sector, using carts
to follow a line instead of laying railway tracks which are both costly and an inconvenience.

1.1.1 Background:-
As technology becomes increasingly important in today's world, it is invaluable
to not only learn how to use technology, but also to understand how to create it. Since being
the Engineer one should have sound knowledge of the other discipline. Most of the projects
have limited scope to only specific discipline. This would limit ones innovation and
creativity. This project inspires to make connections across several disciplines rather than
learning topics in isolation as it combines mechanical, electronic, electrical and
programming skills.
 It gives visual grasp of math and science.
 It builds logical thinking
 It brings out innovation and creativity.
 It enhances problem solving skills.

The robot is designed in such a way that it not only tracks the white and black
line but also follows it accordingly. the line follower robot is also able to change the
direction by means of line.
1.1.2 Objectives:-

The objectives of the project are:

 The robot must be capable of following a line.
 It should be capable of taking various degrees of turns.
 Scalability must be a primary concern in the design
 The robot must be insensitive to environmental factors such as lighting and noise

1.1.3 limitations:-

The system has restricted to the following limitation.

 Choice of line is made in the hardware abstraction and cannot be changed by
software.
 It may not move properly if the black line drawn is of low intensity
 The IR sensors may sometimes Absorbs IR rays from surrounding also.as a
result, robot may move in improper way.

1.1.4 Summary:-
Line Follower is one of the most important aspects of robotics. A Line
Following Robot is an autonomous robot which is able to follow either a black or white
line that is drawn on the surface consisting of a contrasting color. It is designed to move
automatically and follow the plotted line. It enhances interdisciplinary approach to
Mechanical, Electronic, electrical and programming skills. The application of the project
is range from the individual domestic appliance to automation and control aspect of large
industry. Human are intelligent natural machine but it has serious limitation of efficiency
and Realibility. Robots are made to replace dependency of human force partially. The
project is somehow designed to perform the similar task.
 CHAPTER 2

2.1 COMPONENTS USED

1.Arduino Uno

2.IR sensor

3.L293D motor driver

4.BO motor

5.Wheels

6. Jumper cables

7. Lithium-ion battery
2.1.1 Arduino

Arduino is an open-source computer hardware and software company, project

and user community that designs and manufactures microcontroller-based kits for building
digital devices and interactive objects that can sense and control objects in the physical
world. The heart of Arduino is the microcontroller

For Arduino Uno ATmega328P is used. It has specification of 8bit CPU, 16

MHZ clock speed, 2 KB SRAM 32 KB flash Memory, 1 KB EEPROM .

Features :-
 14 digital input output pins (3,5,6,9,10 and 11 pins are able to generate PWM).

 6 analog input pins

 Voltage input from the 5 – 12 V

2.IR SENSOR

An infrared sensor is an electronic device, that emits in order to sense some

aspects of the surroundings. An IR sensor can measure the heat of an object as well as detects
the motion. These types of sensors measure only infrared radiation, rather than emitting it that
is called a passive IR sensor. Usually, in the infrared spectrum, all the objects radiate some
form of thermal radiation.
The advantages of IR sensor include the following

 It uses less power

 The detection of motion is possible in the presence or absence of light
approximately with equal reliability.
 They do not need contact with the object for detection

(SCHEMATIC OF IR SENSOR)
3.L298N motor driver

Motor driver is a current enhancing device; it can also be act as Switching

Device. Thus, after inserting motor driver among the motor and microcontroller. Motor
driver taking the input signals from microcontroller and generate corresponding output for
motor.
L298N Motor Driver Module is a high power motor driver module for
driving DC and Stepper Motors. This module consists of an L298 motor driver IC and a
78M05 5V regulator. L298N Module can control up to 4 DC motors, or 2 DC motors with
directional and speed control

Features & Specifications

 Driver Model: L298N 2A

 Driver Chip: Double H Bridge L298N
 Motor Supply Voltage (Maximum): 46V
 Motor Supply Current (Maximum): 2A
 Logic Voltage: 5V
 Driver Voltage: 5-35V
 Driver Current:2A
 Logical Current:0-36mA
 Maximum Power (W): 25W

(L298N Module)
4.BO motor

Motor is a device that converts any form of energy into mechanical energy or
imparts motion. In constructing a robot, motor usually plays an important role by giving
movement to the robot. In general, motor operating with the effect of conductor with current
and the permanent magnetic field. The conductor with current usually producing magnetic
field that will react with the magnetic field produces by the permanent magnet to make the
motor rotate.

BO Motor is known as Battery Operated motor.BO series linear motor

provides good torque and rpm at lower operating voltages. The BO motors are available in

single Shaft, Dual Shaft, and DC Plastic Gear BO .

5. Wheels

(Front wheel) (Back wheel)

6.Jumper Cables
7.Lithium-ion battery:-

A lithium-ion battery or Li-ion battery is a type of rechargeable

battery composed of cells in which lithium ions move from the negative electrode through
an electrolyte to the positive electrode during discharge and back when charging.
 Li-ion batteries have a high energy density, no memory effect (other
than LFP cells) and low self-discharge. Cells can be manufactured to prioritize either energy
or power density.

A lithium-ion battery is a rechargeable battery.it provides 3.7V at storage

mode and 4.2V at full charge mode. lithium-ion batteries are arranged in series so that the
total battery voltage will be 8.4V at full charge

(LI-ION CELL)
 CHAPTER 3

DESIGN AND IMPLEMENTATION

Software Required:-
For the simulation of the circuit, Proteus® software is used. For coding and
uploading the sketch, the Arduino IDE 2.0.0 ® is used.

Schematic:-
The schematic of the “Line Following Robot” is shown in the figure. The
main component is the Arduino Uno. Schematic is drawn by using Tinkercad and Proteus.
Programming and Simulation :-
The program code acts as the decision-maker embedded in the micro-
controller deciding about the outputs for particular set of Inputs. The program is coded using
Arduino® 2.0.0.and is then compiled to form a “hex” file which can then be burnt into the
Arduino. The output is also checked in simulation using Proteus.

Summary:-
The logic behind the working of Arduino is to analyse the input from the sensor
according to program fed to it and provide corresponding output to the motor driver which
finally drive the motor in such way that, it Produce required motion.
The differential steering system is implemented to turn the robot. In this system,
each back wheel has a dedicated motor while the front wheels are free to rotate.
 CHAPT
ER 4

CONCLUSION
The line following robot is automobile system that has ability to
recognize it’s path , move and change the robot's position toward the line in the best
way to remain in track.
The line following robot project challenged the group to cooperate,
communicate, and expand understanding of electronics, mechanical systems, and their
integration with programming.