STANLEY COLLEGE OF ENGINEERING AND TECHNOLOGY FOR WOMEN (Autonomous)

Abids, Hyderabad
Department of Electronics and Communication Engineering

Mini Project & Industrial visit (SPW513EC)

LINE FOLLOWING ROBOT USING ARDUINO
2023-24

Internal Guide Presented by

1) G. Vijayalaxmi - 160621735079
Mrs.C.V.Keerthi Latha(PhD) 2) Kandhikonda Sahithi - 160621735085
Assistant Professor 3) T. Shriya Bhavani - 160621735106
Contents
• Abstract
• Introduction
• Literature Review
• Block diagram
• Hardware and Software used
• Circuit diagram
• Working Model(Flowchart)
• Advantages and Limitations
• Results and Discussions
• Conclusion
• References
• Acknowledgement
Abstract

A Line following Robot is designed using IR sensor to follow a designated path

which is provided and runs over it. ROBOT has sufficient intelligence to cover the
maximum area of space provided. It will move in a particular direction specified
by the user to navigate the robot through a white line marked on the black surface.
It can complete parking operations safely and quickly without a driver and can
improve driving comfort, while greatly reducing the probability of parking
accidents.
Introduction
• This project involves creating a robot that can follow a specific path or line
autonomously.
• The robot utilizes an Arduino microcontroller for its brain, controlling its
movements based on sensor inputs.
• Its main objective is to detect and follow a contrasting line on a surface using
infrared sensors or other similar sensors.
• By interpreting sensor data, the robot adjusts its motors to stay aligned with the
line, enabling it to move along the desired path.
• This technology has various practical applications in industries like manufacturing,
logistics, and even educational settings for learning about robotics and automation.
Literature Review
Author Title Year of publication Methodology Observation

A.Smith , B.Johnson “Optimizing PID 2017 Simulation and Improved line-

control for line experimentation following accuracy
following robots” with Arduino-based and speed , reduced
PID controllers oscillations
X.Chen, Y.Zhang “Vision-based Line 2018 Utilized a camera Achieved robust line
Detection for mobile system and image detection even under
robots” processing varying lighting
algorithms conditions
C. Lee, D. Wang “Machine learning 2019 Trained a neural Achieved superior
techniques for line network on real- performance
following robot world line data compared to
following in robotic traditional PID
systems” control
M. Gracia, N. Patel “Arduino-based line 2020 Implemented basic Demonstrated a
following robot for PID control with cost-effective
Educational Arduino Uno solution for
purposes” educational settings
Block Diagram
Hardware used
1. Arduino
• Arduino is an open-source electronics platform based on
easy-to-use hardware and software.
• 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 7 – 12 V.
• The Duemalinove board features an Atmel ATmega328
microcontroller operating at 5 V with 2 Kb of RAM, 32 Kb
of flash memory for storing programs and 1 Kb of EEPROM
for storing parameters.
• The clock speed is 16 MHz, which translates to about
executing about 300,000 lines of C source code per second
2. Motor driver L293D

• Motor driver IC capable of driving two motors

simultaneously
• Supply voltage (Vss) determines motor operation: typically
6V for DC motors and 6 to 12V for gear motors based on
their ratings
• Logical Supply Voltage defines input voltage values for high
and low: at +5V, -0.3V to 1.5V is considered Input Low
Voltage and 2.3V to 5V as Input High Voltage
• Enable 1 and Enable 2 serve as input pins for PWM-led
speed control for the motor
• L293D features 2 channels; each channel operates one motor
independently
• Each channel dedicated to controlling a single motor,
providing a total of two channels for two motors Pin diagram of Motor driver L293D
 3.Sensors (Photodiode) 4. IR LED 5. Battery

• Here the photodiode is like a • Here the IR transmitter is like a normal • An electrical battery is a
normal LED but receives the IR LED but transmits the IR signals. combination of one or more
signals. • These are infrared LEDs; the light output electrochemical cells, used
• A photodiode is a type of photo is not visible by our eyes. They can be to convert stored chemical
detector capable of converting used as replacement LEDs for remote energy into electrical
light into either current or controls, night vision for camcorders, energy.
voltage, depending upon the invisible beam sensors, etc.
mode of operation.
Software used

The Arduino IDE (Integrated

Development Environment) is used to
write the computer code and upload
this code to the physical board. The
Arduino IDE is very simple and this
simplicity is probably one of the main
reason Arduino became so popular.

This Photo by Unknown Author is licensed under CC BY-SA-NC

Circuit Diagram
Working model

Flow chart of the line following Process and Distance Calculation

 Advantages Limitations
• Robot movement is automatic • Line following robot have to move on a
• It is used for long distance applications fixed track or path.
• Lack of speed controls makes the robot
• Simplicity of building unstable at times.
• Cost effective • IR sensor may sometimes absorb IR rays
• Easy implementation from surroundings. As a result , robot may
• Used in home, industrial automations etc. affect the movement.
• It is limited to predefined paths
Result and Discussions

Top View arrangement of the components Side View of the Line Following Robot.
Starting point of the Line following robot The robot following the white path on black surface
when there is a black surface it is changing its path Avoiding the black path and moving on the
black path
and searching for a white path
Conclusion
• Line following robots using Arduino provide an accessible and
versatile platform for designing autonomous robots. With the right
components, programming, and calibration, these robots can reliably
follow lines and navigate through various environments.
• The possibilities for customization and adding advanced features make
line following robots a great project for both beginners and
experienced robotics enthusiasts.
References
[1] M. Pakdaman and M. M. Sanaatiyan, "Design and implementation of line follower robot", 2009 second international conference on computer and electrical engineering, pp. 585-590, 2009.

[2] J. Chaudhari, A. Desai and S. Gavarskar, "Line following robot using arduino for hospitals", 2019 2nd International Conference on Intelligent Communication and Computational Techniques (ICCT),
pp. 330-332, 2019.

[3] Kovvuri Bharath Reddy and R. Odaiah. “Efficient Robot Control System With High Security Using DTMF” International Journal of Research ,Vol-1,Issue-9,October_2014; pp 711-716.

[4] Stachniss and Cyrill, “Robotic Mapping and Exploration”, in Springer Tracts in Advanced Robotics, Vol. 55, 2009, XVIII, 196 p. 89 illus.

[5] K. Hasan, Abdullah-Al-Nahid and K. Reza, "Path planning algorithm development for autonomous vacuum cleaner robots", 2014 International Conference on Informatics, Electronics & Vision
(ICIEV),2014.

[6] Mehran pakdaman ,m. mehdai sanaatiyan, Mahdi ghahroudi, “A line follower robot from design to implementation :Technical issues and problems”, Research gate publications, March 2010

[7] Lawanya Shri M ,”A line following robot for Hospital management”, Research gate publications ,February 2019

[8] M. Kahe ,”Robotic Guide”, Kanone Oloum Publication,2008.

[9] Cao Quoc Huy,”Line Follower Robot”, University UPG din Ploiesti.

[10] M.Zafri Baharuddin,”Analyst of Line Sensor Confiuration for Advanced Line Follower Robot” ,University Tegana Nasional.

[11] P. Heryati , A. Aghagani, “Science of Robot Design and Build Robot”, Azarakhsh Publication,2008.

[12] Hogg, Robert W., et al. "Algorithms and sensors for small robot path following." Robotics and Automation, 2002. Proceedings. ICRA'02. IEEE International Conference on. Vol. 4. IEEE, 2002.

[13] L. Consolini, M. Maggiore, C. Nielsen, and M. Tosques, “Path following for the pvtol aircraft,” Automatica, vol. 46, no. 8, pp. 1284– 1296, 2010.

[14] Colak, Ilknur, and Deniz Yildirim. "Evolving a Line Following Robot to use in shopping centers for entertainment." 2009 35th Annual Conference of IEEE Industrial Electronics, IEEE, 2009.
Acknowledgement
This is an acknowledgement of the intensive drive and competence of everyone who has contributed to the success of my Mini Project.

I express my deep gratitude to my Supervisor, Mrs. C.V. Keerthi Latha (Ph.d), Asst. Professor, Electronics and communication

Engineering for their guidance, valuable suggestions, constant encouragement, giving feedback which helped me improve my project

and giving support towards the progress of this project

I express my deep gratitude to Dr. Kedarnath Sahu, Professor and Head of the Department of Electronics Communication
Engineering, forgiving good knowledge about doing research and providing me the right infrastructure which helped me in succeeding
of this project work.

I express my gratitude to Dr. Satya Prasad Lanka, Principal of Stanley College of Engineering and Technology for
women(Autonomous) for assistance and giving me the wonderful opportunity to do this project.

G.Vijayalaxmi(160621735079)

KandhikondaSahithi(160621735085)

T.Shriya Bhavani (160621735106)

 STANLEY COLLEGE OF ENGINEERING AND TECHNOLGY FOR WOMEN
(Autonomous)
Abids, Hyderabad
Department of Electronics and Communication Engineering

INDUSTRIAL VISIT
Name and Address of the Industry: INDIAN METERLOGICAL DEPARTMENT, CFWF+9G4, Airport
Motilal Nehru Nagar, Begumpet, Hyderabad, Telangana 500016

The IMD is headed by the Director General of Meteorology, currently Mrutyunjay Mohapatra. IMD has six Regional
Meteorological Centers, each under a Deputy Director General. These are located in Chennai, Guwahati, Kolkata,
Mumbai, Nagpur and New Delhi. There is also a Meteorological Centre in each state capital. Other IMD units such as
Forecasting Offices, Agrometeorological Advisory Service Centers, Hydro-meteorological Office, Flood Meteorological
Offices, Area Cyclone Warning Centers and Cyclone Warning Centers are usually co-located with various observatories
or meteorological center.
Stevenson Screen:
It is a shelter used to protect
meteorological instruments from
direct exposure to weather elements,
ensuring accurate measurements.
Named after Thomas Stevenson, it
typically features a louvered structure
providing shade and ventilation while
housing instruments like
thermometers and hygrometers
Barometer:
A barometer is a device that measures
atmospheric pressure, providing insights into
short-term weather changes. It typically uses
a column of mercury or alternative
technologies to indicate variations in
pressure. Rising pressure suggests fair
weather, while falling pressure may indicate
stormy conditions. Barometers play a crucial
role in weather forecasting and have
applications in aviation, navigation, and
general meteorological monitoring
Wind Speed
Wind speed is the rate at which air
moves horizontally, measured in
units like meters per second or
kilometers per hour. It is a key
parameter in meteorology,
influencing weather patterns and
impacting various sectors such as
aviation, agriculture, and energy
production. Anemometers are
commonly used to measure wind
speed.