University Institute of Engineering

Department of Computer Science & Engineering

Experiment: 3.1

Student Name: Omika Gupta UID: 24BAI70535

Branch: Computer Science & Engineering Section/Group:406 A
Semester: 02
Subject Name: EMERGING & DISRUPTIVE TECHNOLOGIES WORKSHOP (IOT,
AR-VR, ROBOTICS)

Subject Code: CONT_24ECP-103

1. Aim of the practical:: Design a two-wheel line following robot integrated with infrared
sensors.

2. Tool Used: Coppeliasim.

3. Basic Concept/ Command Description: A two-wheel line-following robot in CoppeliaSim

uses infrared sensors to detect and follow a predefined path. Basic commands include:

sim.getObjectHandle(): Retrieve object handles.

sim.readVisionSensor(): Read IR sensor values.

sim.setJointTargetVelocity(): Control wheel speed.

while loop: Continuously adjust movement based on sensor input.

4. Code:
CODE FOR BUBBLE ROB:

function sysCall_init()
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bubbleRobBase=sim.getObject('.')

leftMotor=sim.getObject("./leftMotor")

rightMotor=sim.getObject("./rightMotor")

noseSensor=sim.getObject("./sensingNose")

minMaxSpeed={50*math.pi/180,300*math.pi/180}

backUntilTime=-1 -- Tells whether bubbleRob is in forward or backward mode

floorSensorHandles={-1,-1,-1}

floorSensorHandles[1]=sim.getObject("./leftSensor")

floorSensorHandles[2]=sim.getObject("./middleSensor")

floorSensorHandles[3]=sim.getObject("./rightSensor")

robotTrace=sim.addDrawingObject(sim.drawing_linestrip+sim.drawing_cyclic,2,0,-1,200,
{1,1,0},nil,nil,{1,1,0})

-- Create the custom UI:

xml = '<ui title="'..sim.getObjectAlias(bubbleRobBase,1)..' speed" closeable="false"

resizeable="false" activate="false">'..[[

<hslider minimum="0" maximum="100" on-change="speedChange_callback"

id="1"/>

<label text="" style="* {margin-left: 300px;}"/>

</ui>

]]

ui=simUI.create(xml)
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speed=(minMaxSpeed[1]+minMaxSpeed[2])*0.5

simUI.setSliderValue(ui,1,100*(speed-minMaxSpeed[1])/(minMaxSpeed[2]-
minMaxSpeed[1]))

end

function sysCall_sensing()

local p=sim.getObjectPosition(bubbleRobBase,-1)

sim.addDrawingObjectItem(robotTrace,p)

end

function speedChange_callback(ui,id,newVal)

speed=minMaxSpeed[1]+(minMaxSpeed[2]-minMaxSpeed[1])*newVal/100

end

function sysCall_actuation()

result=sim.readProximitySensor(noseSensor)

if (result>0) then backUntilTime=sim.getSimulationTime()+4 end

-- read the line detection sensors:

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sensorReading={false,false,false}

for i=1,3,1 do

result,data=sim.readVisionSensor(floorSensorHandles[i])

if (result>=0) then

sensorReading[i]=(data[11]<0.5) -- data[11] is the average of intensity of the image

end

end

-- compute left and right velocities to follow the detected line:

rightV=speed

leftV=speed

if sensorReading[1] then

leftV=0.03*speed

end

if sensorReading[3] then

rightV=0.03*speed

end

if sensorReading[1] and sensorReading[3] then

backUntilTime=sim.getSimulationTime()+2

end
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if (backUntilTime<sim.getSimulationTime()) then

-- When in forward mode, we simply move forward at the desired speed

sim.setJointTargetVelocity(leftMotor,leftV)

sim.setJointTargetVelocity(rightMotor,rightV)

else

-- When in backward mode, we simply backup in a curve at reduced speed

sim.setJointTargetVelocity(leftMotor,-speed/2)

sim.setJointTargetVelocity(rightMotor,-speed/8)

end

end

function sysCall_cleanup()

simUI.destroy(ui)

end

CODE FOR PATH:

path=require('path_customization')
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function path.shaping(path,pathIsClosed,upVector)

local section={-0.02,0.001,0.02,0.001}

local color={0.3,0.3,0.3}

local options=0

if pathIsClosed then

options=options|4

end

local shape=sim.generateShapeFromPath(path,section,options,upVector)

sim.setShapeColor(shape,nil,sim.colorcomponent_ambient_diffuse,color)

return shape

end

5. Observations, Simulation Screen Shots and Discussions:

Sensor Accuracy – The infrared sensors effectively detect line contrast but may struggle
with reflective surfaces or dim lighting.

Control Precision – Fine-tuning motor speed improves smooth path tracking, preventing
oscillations or overshooting curves.

Response Time – Faster sensor readings enhance real-time corrections, ensuring stable
movement along the track.

Environmental Factors – External light sources or surface inconsistencies can impact

sensor readings, affecting performance.
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Department of Computer Science & Engineering

Algorithm Optimization – Implementing PID control or adaptive thresholding improves

robot responsiveness and accuracy.
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Department of Computer Science & Engineering
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Department of Computer Science & Engineering

6. Result and Summary:

The two-wheel line-following robot successfully detects and follows a predefined path using
infrared sensors. Performance improves with optimized control algorithms, ensuring smooth
and accurate navigation.

7. Additional Creative Inputs (If Any):

Learning outcomes (What I have learnt):

1.Sensor Integration – Understanding how infrared sensors detect and respond to line
contrast.

2.Robot Control – Gaining knowledge of motor speed adjustments for smooth

navigation.
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3.Algorithm Implementation – Applying logic like conditional statements and PID

control for better path-following.

4.Simulation in CoppeliaSim – Learning to use commands for object handling, sensor

reading, and movement control.

5.Problem-Solving – Identifying and addressing challenges like sensor errors, lighting

effects, and path deviations.

Evaluation Grid:

Sr. No. Parameters Marks Obtained Maximum

Marks
1. Student Performance 12
(Conduct of experiment)
2. Viva Voce 10
3. Submission of Work Sheet 8
(Record)
Signature of Faculty (with Date): Total Marks 30
Obtained: