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Line Follower Robot

Technical Report · October 2022

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James Frederic Dulo Gelan Nicolan

José Rizal University José Rizal University
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 Jose Rizal University

Line Follower Robot

A Documentation Submitted to the

Faculty of the College of Computer Studies and Engineering

In Partial Fulfillment
Of the Requirements for the Degree

Bachelor of Science in Computer Engineering

By

WARRIORS

JAMES FREDERIC B. DULO

GELAN M. NICOLAN
ARVENELL ABAD
HARRY P. CALVERO

SY 2022-2023
 Introduction

Objectives of the Study

The general objective of this study is to develop a line follower robot.

Specifically, this study is aimed to: Create a line follower robot which will be accurate in following
a line which will then get to the end of the line

Project Research Design

The research design is the overall approach you select to combine the various
elements of the study in a logical and cogent manner, ensuring you will successfully
solve the research problem. It serves as the guide for the data gathering, measurement,
and analysis processes.

Constructive Research Method is used for this research study. The Constructive
Research Method is the most commonly used in Computer Science related research.
The goal of constructive research is to validate through the use of construction of the
prototype to be tested. In this study, a line follower robot that aims to have the fastest
line follower.

Figure 1. Research Design

The Constructive research method is composed of six different stages. It includes
selecting practically relevant problems with research potential, obtaining a
pre-understanding of the topic, designing the solution that deals with the proposed
solution output, testing phase, theoretical connection and research contribution, and
Evaluating the scope of applicability.
Conceptual/ Theoretical Framework
 Figure 2. Conceptual Framework

As shown in Figure 2, the IR proximity sensor will act as an input to the capture
line. The IR sensors are connected to Arduino uno and DC motor that will help the line
follower robot to have precise motion.

Project Development
Project development is a procedure that molds an idea into a working project.
Information can be gathered from websites and first hand basis. In this study, the
researcher will conduct a survey that will gather information about the Line Follower
Robot and utilize the software and hardware components.
 Figure 3 Project Development
Figure 3. shows the progression of the project. The first step is scope analysis, in which
the researcher evaluates the project's potential outcomes and level of completion. The
requirement analysis that follows will cover the project's requirements and features.
Following a project requirements analysis, the design will be created, and the
researcher will next construct a project prototype. The user will put the prototype
through a lot of testing in order to determine whether it needs improvement or not. The
prototype will then undergo extensive testing, and if it has proven to be reliable, the
researcher will consider it to be a finished product.

Hardware Design

Figure 4 Arduino Uno

Figure 4. An Arduino Uno is an open-source microcontroller board based on the
Microchip ATmega328P microcontroller. It is equipped with sets of digital and analog
input/output pins that may be interfaced to various expansion boards and other circuits.
 Figure 5 IR Proximity Sensor
Figure 5. An IR proximity sensor is a multipurpose infrared sensor which can be
used for obstacle sensing, color detection, fire detection, line sensing, and also as an
encoder sensor.

Figure 6 Chassis of Line Follower Robot

Figure 6. A chassis is a special design robot body that you can use for Line
Following Robot projects.

Figure 7 Wheels of Line Follower Robot

 Figure 7. The wheels are very lightweight, so a large amount of torque is still left
to accelerate your robot. These wheels are uniformly round so there will be no bumps to
your robot while on the move.

Figure 8 Jumper wires

Figure 8. The Jumper wires are simply wires that have connector pins at each
end, allowing them to be used to connect two points to each other without soldering.

Figure 9 Motor Driver Module

Figure 9. The robot's motors are driven by the motor driver module. On the basis
of the data transmitted by the IR Sensors, it receives signals from the Arduino Uno
Board.
 Figure 10 Rechargeable battery with case

Figure 10. In contrast to a disposable or main battery, which is delivered fully

charged and discarded after use, a rechargeable battery is a type of electrical battery
that may be charged, discharged into a load, and recharged numerous times.

Figure 11 DC Motor
Figure 11. is referred to as a battery-powered motor. These motors are
frequently employed in hobby-grade applications when a small DC motor is needed as a
straightforward actuator.

Software Design and Development

Arduino IDE. The open-source Arduino Software (IDE) makes it easy to write code and
upload it to the board. It functions on Linux, Mac OS X, and Windows. The environment
is created using Processing and other open-source technologies and is written in Java.
Any Arduino board can be used with this software.
 System Flowchart

Figure 12 System Flowchart

In Figure 12. The Arduino Uno is turned on to begin the system. The black line will be
detected by the IR proximity sensor, which will then send a signal to the motor telling it
which way to travel. If the robot moves to the finish line, the process will be over.
Codes:
#include <AFMotor.h>
#define lefts A4
#define rights A5

//defining motors
AF_DCMotor motor1(4, MOTOR12_8KHZ);
AF_DCMotor motor2(3, MOTOR12_8KHZ);
/*
AF_DCMotor motor1(3, MOTOR12_8KHZ);
AF_DCMotor motor2(4, MOTOR12_8KHZ);
*/

void setup() {
//setting the speed of motors
motor1.setSpeed(200);
motor2.setSpeed(200);
//declaring pin types
pinMode(lefts,INPUT);
pinMode(rights,INPUT);
//begin serial communication
Serial.begin(9600);

void loop(){
//printing values of the sensors to the serial monitor
Serial.println(analogRead(lefts));
Serial.println(analogRead(rights));
//line detected by both
if(analogRead(lefts)<=400 && analogRead(rights)<=400){
//stop
motor1.run(RELEASE);
motor2.run(RELEASE);
}
//line detected by left sensor
else if(analogRead(lefts)<=400 && !analogRead(rights)<=400){
//turn left
motor1.run(BACKWARD);
 motor2.run(FORWARD);
/*
motor1.run(RELEASE);
motor2.run(FORWARD);
*/
}
//line detected by right sensor
else if(!analogRead(lefts)<=400 && analogRead(rights)<=400){
//turn right
motor1.run(FORWARD);
motor2.run(BACKWARD);
/*
motor1.run(FORWARD);
motor2.run(RELEASE);
*/
}
//line detected by none
else if(!analogRead(lefts)<=400 && !analogRead(rights)<=400){
//stop
motor1.run(FORWARD);
motor2.run(FORWARD);
/*
motor1.run(BACKWARD);
motor2.run(BACKWARD);
*/
}

}
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Conclusion: In this project, we looked into and used a Line

Utilizing a microcontroller, the following robot. programs, as well as
Microcontroller interface has been mastered throughout the
implementation.

Recommendation: The evaluation of both source code and hardware was a

time-consuming method, however after test results, adjustment, and clarification, the
final project work will be precisely as anticipated and as specified in the project. This
proposal yields a number of recommendations regarding the line follower robot
problems.
● Mobile products feature WiFi control, which only supports a dual control system.
● utilizing a neural network or other artificial intelligence algorithm