The document discusses the components, working principle, and programming of a line following robot. It contains the following key points: 1. A line following robot uses IR sensors to sense a black line on a white surface and maneuvers itself to stay on the line by constantly correcting its position. 2. The main components are an Arduino microcontroller, IR sensors to detect the line, and motors controlled by an L298N motor driver. 3. The IR sensors detect the line and send signals to the Arduino, which determines if the robot needs to turn left, right, or go straight to stay centered on the line.

1. Oli ullah
Id:011143014
Israt jhan eva
Id:011143014
Arhana Rahman silvy
Id:011143021
Mamunur Rashid Rubel
Id:011143005

2. Index
• Introduction
• Components
• Working Principle
• Block Diagram
• Application
• Advantages and Disadvantages
• Programming on Arduino
Let’s Discuss

3. 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.

4. Line Following Robot
What is a Line
Following Robot
Line 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.

5. What is the need to build a line follower?
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.

6. Components
•Arduino uno
•IR Sensor
• Motors
L298N
•Motors
What are we
using?

7. Arduino
Arduino is an open-
source computer hardware
and software company, project
and user community that
designs and
manufactures microcontroller-
based kits for building digital
devices.

8. Microcontroller

11. Arduino
UNO
IR Sensor
IR Sensor
Motor
Driver
DC
motor
DC
motor
Block Diagram
IR Sensor

12. Circuit Diagram

13. IR Sensor

14. 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.

15. IR Working Principle
Infrared Spectrum
Transmitter
Receiver
Reflection by Object
Voltage

16. Object Detection

17. The robot uses IR(infrared) sensors to sense the line.
Output of the sensors is an analog signal which depends on the amount of
light reflected back.
This analog signal is given to the comparator to
Then microcontroller decides the position of robot in left or right direction.
WORKING PRINCIPLE

18. WORKING PRINCIPLE
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.

19. WORKING PRINCIPLE( contd…)
19
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.

20. 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.
Where is
this used?

21. 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.

22. 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.
What are the
disadvantages
?

23. Code:
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);
// put your setup code here,
to run once:
}
void loop() {
int lsensor=digitalRead(11);
int fsensor=digitalRead(12);
int rsensor=digitalRead(13);
analogWrite(ENA, 200);
analogWrite(ENB, 200);
if(fsensor==HIGH)
{
digitalWrite(lmtf,HIGH);
digitalWrite(lmtb,LOW);
digitalWrite(rmtf,HIGH);
digitalWrite(rmtb,LOW);
}
else if(rsensor==HIGH)
{
digitalWrite(lmtf,LOW);
digitalWrite(lmtb,LOW);
digitalWrite(rmtf,HIGH);
digitalWrite(rmtb,LOW);
}
else if(lsensor==HIGH)
{
digitalWrite(lmtf,HIGH);
digitalWrite(lmtb,LOW);
digitalWrite(rmtf,LOW);
digitalWrite(rmtb,LOW);
}
else
{
else if(lsensor==HIGH)
{
digitalWrite(lmtf,HIGH);
digitalWrite(lmtb,LOW);
digitalWrite(rmtf,LOW);
digitalWrite(rmtb,LOW);
}
else
{
else if(lsensor==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);

24. QUESTIONS
?????

25. Thank You