Line Following Robot with

Obstacle Detection
Objectives
Improve knowledge of robotics as well as
microcontroller programming and electronic circuit
design and construction.

Construct a robot which capable of following a black

line.

Stop within safe distance of an object in its path.

Automatically continue when object moved.

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Application area
Deliver Mail within an office building to another
building.

Industrial automated equipment carriers.

Automated cars.

Tour guides in museums and other similar

applications.
Main Components
PIC Microcontroller
Voltage Comparator
Motor Driver IC
Voltage Regulator
Motor
IR Transmitter
IR Receiver Sensors
Battery
Programmer
HARDWARE DESCRIPTION
PIC Microcontroller 16F72

Program Memory : 3.5 KB

Speed: 20 MHz clock
Instruction cycle: 200 ns instruction cycle
RAM: 128 Bytes
PIN Count: 28
No of I/O: 22
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Microcontroller
It is a smaller computer
Has on-chip RAM, ROM, I/O ports...

CPU RAM ROM

A single chip
Serial
I/O Timer COM Microcontroller
Port
Port
 MOTORS

The motors are run at 6v, so an effective speed of 65 rpm is

achieved, with a considerable increase in torque.
Voltage Comparator LM324

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Motor Driver H-Bridge L293D

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IR Transmitter & Receiver
IR TRANSMITTER ( EMITTING DIODE)
The IR LED emitting infrared light is put on in the
transmitting unit. IR or VISIBLE light is emitted from
the emitter.

This emitted light strikes the surface and gets

reflected back. If the surface is white, more
intensity of light gets reflected and for black surface
very less intensity of light is reflected.

IR RECEIVER (PHOTODETECTOR)
Used to detect the intensity of light reflected. The
corresponding analog voltage is induced based on
the intensity of reflected light, which further
compared by comparator and output send as 0 or 1.
Regulator IC 7805
A voltage regulator is an electrical
regulator designed to automatically maintain
a constant voltage level.

It converts a positive voltage (7-29V) to

+5 volts.

Heat sink provided in the center to release

heat generated due to drop across the IC.

Input voltage of about 5 to 18 V is given,

Ground is 0 V and regulated output of +5V.

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Battery

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Programmer

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WORKING PROCEDURE
Block Diagram
 Black Line Sensor Line Follower

1
1 1
2
2 2

Sensor 1 on White Sensor 1 on Black Sensor 1 on White

Sensor 2 on White Sensor 2 on White Sensor 2 on Black
Go forward Turn left Turn right

2015 EV3Lessons.com, Last edit

9/7/2015 17
WORKING PRINCIPLE
When a sensor is on the black line it reads 0 and when it is on the bright surface it reads
1.

When left sensor comes in white(for black line

tracer) region then right motor stops while left
motor continue to move so that right turn takes
place and robot returns on white line.

First sensor which is to the right will become

low as that sensor will be facing the black line and
the remaining sensors response will be high. i.e.
the right wheel is held constant and the left wheel
is made to move freely until the response from the
middle sensor becomes low .

When right sensor comes in white region then

left motor stops while right motor continue to
move so that left turn takes place and robot returns
on white line.
WORKING PRINCIPLE
The middle sensor will always be on the line and
as the line is black in color, it will not reflect the
emitted radiation back and the response of the sensor
will be low and the response of the remaining two
sensors will be high as they will be on the bright
surface. When both sensors are on black line then
robot moves forward.

If all the three sensors will be on brighter surface

then they all will be high and as no line is detected,
robot move in a circular motion until line is found.

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VARIOUS TRACKS

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Software requirements
MikroC for writing Program
and compiled to generate
machine file.
Proteus for Simulating the
circuit.
PIC Kit for input the program
files to Microcontroller.
 LIMITATIONS
Calibration is difficult and it is not easy to set a
perfect value.
The steering mechanism is not easily
implemented in huge vehicles and impossible
for non-electric vehicles (petrol powered).
Few curves are not made efficiently, and must
be avoided.
External IR source is affected the sensor.

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 FUTURE SCOPE
Software control of the line type (dark or
light) to make automatic detection
possible.
Obstacle detecting sensors to avoid
physical obstacles and continue on the
line.
Distance sensing and position logging &
find the shortest path.

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