Line Follower Robot using Arduino
Line Follower Robot
• 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.
Concepts of Line Follower
Concepts of Line Follower
• 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.
Circuit Explanation
• The whole arduino line follower robot can be
divided into 3 sections: sensor section, control
section and driver section.
Sensor section
• We have used IR Sensor Module as the line detecting sensor for the
project. It consists of an IR LED and a Photo diode and some other
components like comparator, LED etc.
• 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.
• 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.
IC Details
Control Section
• Arduino Uno is used for controlling whole the
process of line follower robot.
• The outputs of comparators are connected to digital
pin number 12 and 13 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.
L293D Pin Diagram
Geared Motors
• Motors (Geared Motors): We have used two geared
motors at the rear of the line follower robot.
• These motors provide more torque than normal
motors and can be used for carrying some load as
well.
Geared DC Motors
Arduino uno
• Arduino is a microcontroller used to control the
robo wheels based on IR sensor output
Arduino uno Pin Diagram
Working of Line Follower Robot using Arduino
Circuit Diagram
Working of Line Follower Robot
• 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.
• 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.
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.
Required Components
Components Required
Arduino UNO (or Arduino Nano)
L293D Motor Driver IC
Geared Motors x 2
Robot Chassis
IR Sensor Module x 2
Black Tape (Electrical Insulation Tape)
Connecting Wires
Battery Connector
Battery Holder
Power Supply -5V & 9V DC
