University of engineering and technology, Lahore, Pakistan

Mechatronics and control Engineering.

Line Following Robot

Course: Digital Logic Design.

A PROJECT REPORT

Submitted by
Asfand Kamran-----------------------2017-MC-48
Shahbaz Qadir-----------------------2017-MC-49
Abdul Moeed Khan---------------------2017-MC-50

Submitted To
Sir Taloot Kamboh
 Table of Contents

Abstract…
1) Chapter - 1 Introduction

1.1 General
1.1.1 What is Robot..??
1.1.2 What is LFR (Line Following Robot) ??
1.2 History of LFR
1.3 Circuit Diagram

2) Chapter - 2 Initial implementation of Project and Problems Faced

2.1 Components Required.

2.1.1 Description of the components and their Pin configuration.
2.2 Initial Problems Faced in implementing LFR.

3) Chapter - 3 Methodology (Part 1)

3.1 Working principle of LFR

3.1.1 Proteus Simulation of LFR
3.2 Shifting the project on Bread Board
3.3 picture of circuit.

4) Chapter - 4 Methodology (Part 2)

4.1 Final operations on LFR on vero board

4.2 Final Diagram of LFR

5) Chapter - 5 Summary, Conclusion and Future

5.1 Summary of project

5.2 Importance of LFR
5.2.1 Applications of LFR
5.2.2 Future of Line Following Robot

References…
Abstract:

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 black line on a white surface with a
high contrasted color or it can be invisible like a magnetic field. Definitely, 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 commends and then it sends them to the driver and thus the path will be followed by the line
follower robot. In this Paper, we have illustrated the process of design, implementation and testing
TABAR, a small line follower robot designed for the line follower robot competition.
 Chapter 1- Introduction
1.1 General
1.1.1 What is Robot..??

A Robot is any machine which is completely automatic, i.e. it starts on its own, decides its own
way of work and stops on its own. It is actually a replica of human being, which h has been designed
to ease human burden. It can be controlled pneumatically or using hydraulic ways.
Any robot is built on 3 basic laws defined by the Russian Science fiction author Isaac Asimov:

 A robot should not harm the human being directly or indirectly.

 A robot should obey human orders unless and until it violates the first law.
 A robot should protect its own existence provided the 1st two laws are not violated

1.1.2 What is LFR (Line Following Robot)??

Line follower is an autonomous robot which follows either black line in white are or white
line in black area. Robot must be able to detect particular line and keep following it.
For special situations such as cross overs where robot can have more than one path which can be
followed, predefined path must be followed by the robot.

1.2 History of LFR

In the mid 1800’s mechanical manikins were first inherent Europe, only for stimulation
esteem. Furthermore, these were called robots since their parts were driven by linkage and cams
furthermore, controlled by turning drum selectors. In 1801 Joseph Maria Jacquard made the
following awesome change and created the programmed draw loom. The draw weaving machines
punch cards what’s more, was utilized to control the lifting of string in fabric manufacturing plants.
This was the first to have the capacity to store a system and control a machine. After that there were
numerous little changes in apply autonomy.
The principal modern robots were Unimates created by George Devol and Joe Engelberger in
the late 50’s and mid 60’s. The main patent was by Devol yet Engelberger shaped Unimation which
was the first market robots. So Engelberger has been known as the “father of mechanical autonomy”.
For some time the financial suitability of these robots demonstrated appalling and thing eased off for
apply autonomy. However, the industry recouped and by the mid-80’s mechanical technology was
back on track.
1.4 Circuit Diagram
 Chapter - 2 Initial implementation of Project and Problems Faced
2.1 Components Required.
Following are the components which are required for the making of Line Following Robot.
 LM358 IC
 L293D IC
 Transmitter sensor
 Receiver sensor
 Resistors
 Variable resistors
 Jumper wires
 Bread board
 Vero board
 Golden wire
 Battery
 Motors
2.1.1 Description of the components and their Pin configuration.

LM358:

The LM358 IC is a great, low power and easy to use dual channel op-amp IC. It is designed
and introduced by national semiconductor. It consists of two internally frequency compensated, high
gain, independent op-amps
L293D:

L293D is a typical Motor driver or Motor Driver IC which allows DC motor to drive on
either direction. L293D is a 16-pin IC which can control a set of two DC motors simultaneously in
any direction. It means that you can control two DC motor with a single L293D IC. Dual H-bridge
Motor Driver integrated circuit (IC)

IR transmitter and Receiver:

The IR transmitter consists of the LED that emits the IR(Infra Red) radiation.This is received by the
photo diode, which acts as IR receiver at the receiving end. Since the IR radiation is invisible to
human eye it is perfect for using in wireless communication.

Variable Resistor:
A variable resistor is the most significant component found in many electrical devices for
controlling the tone, bass as well as volume. This is due to the fact that resistors can be connected
together with the other components to form filters for a desired level.
Motors :
An electric motor is an electrical machine that converts electrical energy into mechanical energy.
Most electric motors operate through the interaction between the motor's magnetic field and winding
currents to generate force in the form of rotation.

2.2 Initial Problems Faced in implementing LFR.

We faced a lot of problems during the formation of LFR. First of all to search out the circuit
which we could implement in the hard form was very difficult. After that to make the simulation of
diagram on proteous software was difficult because all the components which we used in the making
of LFR were not available in the software and these components were also hardly available in the
market and were too expensive to purchase.
 Chapter - 3 Methodology (Part 1)
3.1 Working principle of LFR
First of all we are having a transmitter and receiver we transmit and receive the rays. When
we apply the voltage across the transmitter the rays will be produced across the transmitter and it will
transmit the rays to receiver which receive the rays that’s why current will flow across the receiver
and it will transfer the current to the amplifier as an input. A variable resistor is used in the circuit as
it has three terminals out of which one is variable and two are fixed. The fixed terminals are
connected with the positive and negative terminal of the battery and the variable pin is connected to
amplifier at non inverting input which controls the sensitivity. The output produced across the
amplifier will act as an input for the motor driver. Two such arrangements of sensors are made to
control two motors as in case of turning of a black line for example, the transmitter will transmit the
rays but receiver will not receive the rays and current will not be produced in it due to which the
motor will not run and thus the 2nd motor will do its work in turning of the wheel. If left motor is not
running the wheel will turn towards the right and vice versa.
3.1.2 Proteus Simulation of LFR

3.2 Shifting the project on Bread Board

After completing the simulation on the software and examining all the things and condition the
next step is to implement the circuit on the bread board to checkout its working. It is done in
following steps.
 First of all we will use two bread boards and take all the components we need in the
formation of LFR
 We will place all the components in the bread board very carefully and join the terminals
with the help of jumper wires according to simulation and circuit diagram
 Both sensors are connected parallel to each other and amplifier and resistances are also
connected with them for safe use.
 Variable resistor is connected with battery as well as amplifier at non inverting input and
inverting input comes from the receiver
 The output terminal of amplifier is given to motor driver which runs the motor at the end.

3.2.1 picture of circuit.

 Chapter - 4 Methodology (Part 2)
4.1 Final operations on LFR on vero board
The final work we do is to form a body structure to line following robot. For this purpose we
made a permanent connection system on vero board and connect it with a car and wheel apparatus
with two connected motors across the wheels. For this we do various operations.
 We use two vero board arrangements in such a way that we place all the components
on the vero board according to circuit diagram and then solder it with the help of
soldering iron
 Then we make the connection with the help of golden wires
 Making all the arrangements done we fix everything on car and wheel apparatus and
visualize the working of line following robot.

4.2 Final Diagram of LFR

 Chapter - 5 Summary, importance and Future
5.1 Summary of project
we have made a line following robot for which first we have made a simulation on proteous
then we implement the circuit on bread board and in the last we have shifted the circuit on
vero board. At the end we have made a project report for LFR which include the whole
working, body and structure of LFR.

5.2 Importance of line following robot

A line following robot is very important to us as it has a lot of applications which are really
helpful to mankind
5.2.1 Applications of LFR

Following are the application of LFR.

 Industrial Applications: These robots can be used as automated equipment carriers in industries
replacing traditional conveyer belts.
 Automobile applications: These robots can also be used as automatic cars running on roads with
embedded magnets.
 Domestic applications: These can also be used at homes for domestic purposes like floor cleaning
etc.
 Guidance applications: These can be used in public places like shopping malls, museums etc to
provide path guidance.

5.2.2 Future of LFR

Line following robot based materials supply system can play a vital role in the field of hospitality.
Line following robot’s application over electronics engineering can’t be underestimated. Also,
monitoring of every patient is very difficult for the nurses, given the fact that there are very few of
them. So a camera can be placed in the line following robot, from which the status for every patients
can be handle from a single room

n the future, a line following robot could be used to lay groundwork for a small structure, repaint
objects such as baseball diamonds, lay a trail of something down, or even plow the ground for
farmers

References..
https://ieeexplore.ieee.org/document/5380235/references#references

https://www.elprocus.com/line-follower-robot-basics-controlling/

https://www.robomart.com/blog/white-line-follower-robot-how-it-works/

https://www.quora.com/How-do-an-IR-transmitter-and-receiver-work

https://electronicsforu.com/electronics-projects/hardware-diy/line-follower-robot-project
http://www.yuvaengineers.com/use-of-automated-guide-vehicle-line-follower-robot-in-material-supply-
delivery-within-hospitals-tejaswi-kasarla-aravind-reddy-keesara/