ABSTRACT

Robotics is part of Todays communication. In todays world ROBOTICS is fast growing and
interesting field. It is simplest way for latest technology modification.
To be useful in real world, robots need to move safely in unstructured environments and
achieve their goals despite unexpected changes in their surroundings. The environment of real
robots are rarely predictable or perfectly unknown so it does not make sense to make precise
plans before moving. Obstacle detection and avoidance robots are intelligent robots which
can perform desired tasks in unstructured environments by finding and overcoming obstacles
in their way without continuous human guidance.
The Line follower robot is a mobile machine that can detect and follow the line drawn on the
floor. Generally, the path is predefined and can be either visible like a white line on a black
surface with a high contrasted color or it can be invisible like a magnetic field. Therefore, this
kind of Robot should sense the line with its Infrared Ray (IR) sensors that installed under the
robot. After that, the data is transmitted to the processor by specific transition buses. Hence,
the processor is going to decide the proper commands and then it sends them to the driver and
thus the path will be followed by the line follower robot.
The control strategy refers to the nature and direction of the linkages between the variables
measured and control variables turning is controlled by moving the actuator arm of the servo
either in left or right direction according to the track. These robots are line follower also and
capable to interact with each other using IR sensor. Present mechanism is important in
various industrial applications where a task is divided into various modules or subtasks which
is performed by separate robots.

CONTENTS

Topic

Chapter No.

Page No.

List of figure
List of tables
Abbreviation and symbols

Chapter 1

Introduction

01

Chapter 2

Related Theory

03

Chapter 3

Design and Methodology

10

Chapter 4

Results and Discussion

15

Chapter 5

Conclusion and Future Scope

18

References

19

List of Figures
Figure 1.1 Block Diagram of Line Follower
Figure 1.2 Atmega16
Figure 2.1 Pin Diagram of Atmega16
Figure 2.2 Pin Diagram of L293D IC
Figure 2.3 LCD
Figure 2.4 USBASP Programmer
Figure 2.5 Sensor Board
Figure 3.1 3D Layout of Development Board
Figure 3.2 Flow Chart of Line Follower Algorithm
Figure 4.1 Line Follower Robot

List of Tables
Table 4.1 Result of Line Follower
Table 4.2 Result of Obstacle Detection

Abbreviations and Symbols

C Microcontroller
LCD Liquid Crystal Display
LED Light Emitting Diode
ROM Read Only Memory
RAM Random Access Memory
AVR Advanced Virtual RISC
RISC Reduced Instruction Set Computing
ADC Analog to Digital Converter
MOSFET Metal Oxide Semiconductor Field Effect Transistor
DC Direct Current
IR Infra Red