1. TECHNOLOGY ROBOTICS SOCIETY Indian Institute of Technology, Kharagpur

2. A TUTORIAL ON ROBOTICS Sensors

9. Sensor Interfacing Light Sensing Module using LED-LDR combination

10. Sensor Interfacing Bump Detector Module

13. Block Layout of Line Follower Optical Sensor Array Steering Controller Left Motor Right Motor

14. Line Following Algorithm Step1: All the sensors are assigned some weight such as Sensor 1 = a1 = 3 Sensor 2 = a2 = 2 Sensor 3 = a3 = 1 Sensor 4 = a4 = -1 Sensor 5 = a5 = -2 Sensor 6 = a6 = -3 Step2: Let b1 – b6 denote the state of each sensor. 0 for white line and 1 for black line Step3: Line Position = Σ aibi Step4: Vcm is fixed, predetermined ω cm is proportional to Line position Step5: Vl = Vcm + ( ω cm / a) Vr = Vcm – ( ω cm / a) a : Separation between left/right wheels