This document describes a line following robot project built using an Arduino microcontroller. It lists the components used, which include the Arduino UNO, IR sensors, an L298N motor driver, DC motors, and a chassis. It explains the working principle of how the IR sensors detect a line and the motor driver is used to control the DC motors to follow the line. Diagrams of the circuit, programming code, potential applications, and advantages/disadvantages of the line following robot are also provided.

2. Presentation Topic : Line Follower Robot using
University of Development Alternative
|U|O|D|A|
Submitted To : Submitted By :
Department of Computer Science & Engineering
Arduino
Zubayer Al Billal Khan
Research Engineer
IICT , BUET
Kaniz Fatema Chaity
ID : 011143002
Sharmin Akter Lipi
ID : 011143015
Shemanto Chandra Roy
ID : 011143016
Md. Zahid Hasan
ID : 011143035
Batch – 37th

3. Index
 Introduction
 Components
 Working Principle
 Flowchart
 Block Diagram
 Circuit Diagram
 Application
 Advantages and Disadvantages
 Programming on Arduino
 References
Let’s Discuss

4. Introduction What is a
Robot
A Robot is a machine
capable of carrying out
a complex series of
actions automatically,
especially one
programmable by a
computer.

5. Line Following Robot
What is a Line
Following
RobotLine following Robot is
a machine that can
follow a path. The
path can be visible like
a black line on a white
surface or it can be
invisible like a
magnetic field.

6. What is the
need to build
line following
Robot?
Sensing a line and
maneuvering the
robot to stay on
course, while
constantly
correcting wrong
moves using
feedback
mechanism forms a
simple yet effective
closed loop system.

7. Components
What are we
using? Arduino UNO R3
 Motors Driver IC L298N
 IR sensor x 3
 Motors 75 RPM x 2
 9 volts Battery for Motor
Driver and 9 volt for
Arduino
 DC jack
 Wires
 Jumper
 Wheels x 2
 ACRYLIC CHASSIS

8. Arduino
Arduino is an open-
source computer hardware
and software company,
project and user
community that designs and
manufactures microcontroll
er-based kits for building
digital devices and
interactive objects that can
sense and control objects in
the physical world.

9. IR Sensor
A passive infrared sensor (PIR sensor)
is an electronic sensor that measures
infrared (IR) light radiating from
Objects in its field of view. They are
most often used in PIR-based motion
detectors.

10. L298N Motor Driver
 This driver allows you to
control the speed and direction
of two DC motors, or control
one bipolar stepper motor with
ease. The L298N H-bridge
module can be used with
motors that have a voltage of
between 5 and 35V DC.

11. Motors
The motors rotate
clockwise and
anti-clockwise
based on the
program. In the
motor electrical
energy is
converted into
mechanical energy.

12. Working Principle
 The IR sensor detects the light emitted by the transmitter, if
the receiver absorbs light (black colour absorbs the light and
thus no light is reflected so receiver cannot receive any light),
the wheel of that side will keep on moving, as soon as the
receiver receiving the light the wheel of that side will stop.
 For turning ,the robot stops 1 motor and runs the second to
make the turn possible.
 For example :
 If the robot has to turn right then the motor on right side
will stop and left motor will keep on running and thus
allowing the robot to turn.

13. Left IR
Sensor
Font IR
Sensor
Right IR
Sensor
Motor 1 Motor 2
0 0 0 0 0
0 0 1 Forward 0
0 1 0 Forward Forward
0 1 1 0 0
1 0 0 0 Forward
1 0 1 0 0
1 1 0 0 0
1 1 1 0 0
Motor Logic

14. Flowchart

15. Block Diagram
Arduino
Uno
Right
Motor
Left
Motor
Right
Sensor
Forward
Sensor
Left
Sensor
MotorDriverICL298N
Power Supply

16. Circuit Diagram

17. Programming on Arduino
const int lmtf =7;
const int lmtb=6;
const int rmtf =8;
const int rmtb=9;
const int ENA = 3;
const int ENB = 5;
void setup () {
pinMode ( lmtf,OUTPUT );
pinMode ( lmtb,OUTPUT );
pinMode ( rmtf,OUTPUT );
pinMode ( rmtb,OUTPUT );
pinMode ( ENA, OUTPUT );
pinMode ( ENB, OUTPUT );
}
void loop () {
int rSensor = digitalRead ( 11 );
int fSensor = digitalRead ( 12 );
int lSensor = digitalRead ( 13 );
analogWrite ( ENA, 75 );
analogWrite ( ENB, 75 );
if ( fSensor == HIGH ) {
digitalWrite ( lmtf,HIGH );
digitalWrite ( lmtb,LOW );
digitalWrite ( rmtf,HIGH );
digitalWrite ( rmtb,LOW );
}
else if ( lSensor == HIGH ) {
digitalWrite ( lmtf,LOW );
digitalWrite ( lmtb,LOW );
digitalWrite ( rmtf,HIGH );
digitalWrite ( rmtb,LOW );
}
else if ( rSensor == HIGH ) {
digitalWrite ( lmtf,HIGH );
digitalWrite ( lmtb,LOW );
digitalWrite ( rmtf,LOW );
digitalWrite ( rmtb,LOW );
}
else {
digitalWrite ( lmtf,LOW );
digitalWrite ( lmtb,LOW );
digitalWrite ( rmtf,LOW );
digitalWrite ( rmtb,LOW );
}
}

18. Applications
 Industrial automated equipment
carriers.
 Automated cars.
 Tour guides in museums and other
similar applications.
 Deliver the mail within the office
building
 Deliver medications in a hospital.

19. Advantages
 The robot must be capable of
following a line.
 Insensitive to environment factors
like noise and lightning.
 It should be capable of taking various
degrees of turns.
 The color of the line must not be a
factor as long as it is darker than the
surroundings.
What are
the
advantages

20. Disadvantages
 LFR can move on a fixed track or path.
 It requires power supply.
 Lack of speed control makes the robot
unstable at times.
 Choice of line is made in the hardware
abstraction and cannot be changed by
software.

21. References
 Basic Electronics
http://www.kpsec.freeuk.com/
 Williamson Labs
Nice animated tutorials, articles and project ideas.
http://www.williamson-labs.com/home.htm
 Small Robot Sensors
http://www.andrew.cmu.edu/user/rjg/websensors/ro
bot_sensors2.html
 Robotics India
An Indian site devoted to robotics.
http://www.roboticsindia.com/

22. QUESTIONS ?????

23. Thank You
BY