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Design of autonomous line follower robot with obstacle avoidance

Technical Report · May 2021

DOI: 10.13140/RG.2.2.11652.86403

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 International Journal of Advance Research, Ideas and Innovations in Technology

ISSN: 2454-132X
Impact Factor: 6.078
(Volume 7, Issue 3 - V7I3-1547)
Available online at: https://www.ijariit.com

Design of autonomous line follower robot with obstacle avoidance

Kumar Rishabh
kumar.rishabh.2000@gmail.com
SRM Institute of Science and Technology, Chennai, Tamil Nadu

ABSTRACT following robot and the object obstructing it by sending a sound

This paper shows design and implementation of the Line
Follower Robot and its ability to select the desired line among
black and white line. This can be combined with different
colours. Since each colour has its own distinct property, robot
can therefore easily differentiate among different colours and
possess the ability to detect the presence of an obstacle and
choose the other path to find its target. It is programmed in
such a way that instructions are given to the robot which
senses a line and attempts to move towards the target. The
robot can easily move along very congested curves as it
continuously data from the sensors. This robot avoids collision
and it can detect collision with an obstacle sensor and hence
reaching the target. The proposed system can be implemented
in any commercial, industrial, medical and also in educational
labs
Keywords⸻ Arduino, IR Sensor, Ultrasonic Sensor, Motor
1. INTRODUCTION
The Line Following Robot is an autonomous robot that detects
a path and according to the path drawn, it follows the path with
the help of an IR sensor attached to the robot. The path can be
either a Blackline drawn over a white surface or a white line
drawn over a black surface thus avoiding any detection error.
Line follower robot also consists of an obstacle sensor that
detects any obstacle in front of the Robot thus avoiding any
unnecessary accidents. Line follower robot is designed and
programmed in such a way that it does its job perfectly without
any error and detects it’s given path. It operates in such a way
that it detects and reads the path and transmits the signal to
Arduino UNO. The microcontroller decides to make any
changes (if needed) in the directions or speeds of the robot
according to the inputs received. Thus, it sends the control signal
to the speed and directions of the line follower robot. This way
the line follower robot operates without any error.
To make a line follower robot with object detection ability it is
attached with an ultrasonic sensor, which is a device that can
measures the distance between an object and robot by using
sound waves. It calculates the distance between the line
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wave of a specific frequency and detecting the bounced sound
wave at receiver
It is important to understand that some objects might not be
detect by ultrasonic sensor. This can be applied for military
purposes, delivery services, transportation systems, blind
assisting applications.
2. MOTIVATION
In time of automation advances to reduce human efforts, it is
necessary to develop colour line following robot, this robot can
be used in airports to carry equipment and baggage from one
place to another place, and it can be used for home automation,
in restaurant it is used as robotic waiter like in Robot Restaurant
in Porur, Chennai. It was opened in November 2017. Advantage
of such robots is that they can operate efficiently for 6-7 long
hours with a single charge. Thus, it is profitable for the business
itself. Therefore, for a large country like India, it is necessary to
use the line following robots in restaurants, industries etc. Such
Robots come into play when large and heavy machineries are to
be transferred from one place to another within industries. This
technology can be implemented in running buses or other mass
transit systems.
3. RELATED WORK
In robotics there are many systems invented which has different
applications in different fields. Robotics is very popular field for
research and manufacturing. Pakdaman M. et.al has design a
small line following robot which used IR sensors to detect the
line drawn on floor [1]. Priyank Patil has developed an AVR line
following robot which can detect the line drawn on the floor with
the help of sensor array. When its sensor is passing through the
line drawn on the way then it reads 0 and vice versa [2]. That
system has designed for the robot competition. Colak I. et.al has
design a line following robot to use in the shopping malls for
entertainment. That system used 4.8 cm wide black line to carry
maximum load of 400 kg. Two wheels balancing robot has
developed by Nor Maniha Abdul Ghani et.al, which has the line
following capability and for balancing it, they used infrared
distance sensor to solve the problem in inclination [11], They
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 International Journal of Advance Research, Ideas and Innovations in Technology
also used a manual control with the help of remote controller DIFFERENT TYPES OF PATH FOR LINE FOLLOWER
[12]. A physical robot with 50 individual controls is generated ROBOT
by Gomi T. et.al from which the ability and gait to lift the body
can be improved. That robot can move its legs in forward motion
and tested in different conditions [13]. Roman Osorio C. et.al
designed an intelligent line following robot, which can modify
the performance of the movement with the help of different type
of magnetic sensors. That robot was based on the V2X sensor The robot will follow a bad angle of 45° and cycle or bad
which is a type of digital compass [14]. This system is used an curves. It will stop when it finds a cross black line.
array of 8 IR sensors and several LEDs. M. Zafri Baharuddin
et.al designed a mobile robot which can be used as the
navigation purpose [15]. An intelligent robot system is designed
by Bajestani S. E. M. which can give corrective feedback in
different colors of light [16]. They used a comparator circuit to
improve the sensitivity of the system. That comparator
compares the voltage with the predetermined amounts from
which a robot can move in accurate real time. Kazi Mahmud On any kind of polygon, it can follow the line and maintain a
Hasan et.al designed sensor based autonomous color line particular speed.
following robot with obstacle avoidance, this robot can follow
not only black and white colors but also some other different
colors. This robot includes electronic logic gates as brain instead
of microcontroller [17].

4. PRINCIPLE The line may have cycles and unwanted curves that it has to
The Line Follower Robot consists of two IR sensors and an follow on narrow space or moving one room to another
Ultrasonic sensor attached to it. When the left sensor comes on
the black line, then the robot turns the left side in the black line 5. SENSORS
(Fig.1) and if the right sensor senses a black line (Fig.2), then 5.1 Arduino Uno
the robot turns the right side until both the left and right sensor
senses white then only the robot moves forward (Fig. 3). If robot
comes across a path where there is another black strip lying
perpendicular to the path then the robot stops at that instant (Fig.
4).

Fig. 1 Fig. 2
The Arduino Uno is a microcontroller board based on the
datasheet file,
http://www.atmel.com/dyn/resources/prod_documents/do
c8161.pdf

Further information about Arduino Uno, you can read it on

http://arduino.cc/en/Main/ArduinoBoardUno

Fig. 3 Fig. 4 5.2 L293D (Motor Driver)

This is a Motor driver IC that can drive two motors

simultaneously. Motors are arranged in a fashion called H-
Bridge. H-Bridge-It is an electronic circuit which enables a
voltage to be applied across a load in either direction. It allows
a circuit full control over a standard electric DC motor. That is,
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 International Journal of Advance Research, Ideas and Innovations in Technology
with an H-bridge, a microcontroller, logic chip, or remote 5.6 IC 7805
control can electronically command the motor to go forward,
reverse, brake, and coast. [18]
5.3 HC-SR04 (Ultrasonic Sensor)
Ultrasonic sensor is a device which can measure the distance to
an object by using sound waves. It will measure the distance by
sending out a sound wave at a particular frequency and listening
that wave when it bounces back.[19]
5.4 IR Sensor
The Infrared (IR) sensors consist of Infrared (IR) LED and
Infrared (IR) photodiodes. The IR LED is called photoemitter
and IR photodiode is called receiver. The IR light emitted by the
LED strikes the surface and gets reflected back to the
photodiode. Then the photodiode gives an output voltage which
is proportional to the reflectance of the surface which will be
high for a light surface and low for dark surface. Light colored
objects reflect more IR light and dark colored objects reflect less
IR light.[20]
5.5 Jumper Wires
Jumper wires are simply wire that have connector pins at each
end, allowing them to be used to connect two points to each
other without soldering. Jumper wires are typically used with
breadboards and other prototyping tools in order to make it easy
to change a circuit as needed.[21]
© 2021, www.IJARIIT.com All Rights Reserved
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. [22]
5.7 Chassis
Basic chassis for building your own Arduino robot car etc. The
acrylic base is pre-drilled & routed to mount the gear motor/Tire
assemblies, a 4 “AA” cell battery holder and a small caster for
the rear wheel. Motors: 5-10VDC with Tach disks
5.8 Castor Wheel
A caster (or castor) is an undriven, single, double, or compound
wheel that is designed to be mounted to the bottom of a larger
object (the "vehicle") to enable that object to be easily moved.
They are available in various sizes and are commonly made of
rubber, plastic, nylon, aluminium, or stainless steel.[23]
5.9 Batteries
A battery is a device consisting of one or more electrochemical
cells with external connections provided to power electrical
devices such as flashlights, mobile phones, and electric cars.
When a battery is supplying electric power, its positive terminal
is the cathode and its negative terminal is the anode. The
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 International Journal of Advance Research, Ideas and Innovations in Technology
terminal marked negative is the source of electrons that will flow 6. BLOCK DIAGRAM
through an external electric circuit to the positive terminal. Below is the block diagram for Line Follower Robot. The
When a battery is connected to an external electric load, a redox Arduino UNO microcontroller sends a set of signals to the
reaction converts high-energy reactants to lower-energy L293D and uses the Motor Shield L293D. All kinds of
products, and the free-energy difference is delivered to the processing take place in the Arduino UNO microcontroller. Two
external circuit as FIG:2.9 electrical energy. Historically the Dc Motors are connected with the motor shield as well as Two
term "battery" specifically referred to a device composed of IR sensors and two Ultrasonic Sensors are connected to the
multiple cells, however, the usage has evolved to include motor shield. They send signals through the L293D to the
devices composed of a single cell.[24] Arduino. The 11v Lithium Polymer battery powers the whole
system.

7. SYSTEM ARCHITECTURE

Connection Between Motor Driver and Arduino

Motor Driver Arduino
N1 10
IN 2 9
IN 3 6
IN 4 5
VCC/ 12V Vin / 5v
GND GND
5V 5V

Connection between IR Sensor and Arduino

IR Sensor Arduino
Sensor 1:
VCC VCC
GND GND
OUT A0
Sensor 2:
VCC VCC
GND GND
OUT A1

Connection between Ultrasonic Sensor and Arduino

Ultrasonic Sensor Arduino
GND GND
ECHO A3
TRIG A5
VCC VCC

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 International Journal of Advance Research, Ideas and Innovations in Technology
8. ARCHITECTURE OF THE SYSTEM

9. SOURCE CODE }else{

The complete code of the of the proposed system is presented turnLeft();
below, delay(350);
#define trigpin A5 delay(1000);
#define echopin A4 turnRight();
int motor_l1 = 6; delay(200);
int motor_l2 = 5; forword();
int motor_r1 = 10; delay(500);
int motor_r2 = 9; forword();
int speed =115; delay(500);
int frontdist; }
long duration; }
int setdist = 10;
int L_S = A0; long data(){
int R_S = A1; Long data(){
void setup(){ pinMode(motor_l1,OUTPUT); digitalWrite(trigpin,LOW);
pinMode(motor_l2,OUTPUT); delayMicroseconds(2);
pinMode(motor_r1,OUTPUT); digitalWrite(trigpin,HIGH);
pinMode(motor_r2,OUTPUT); delayMicroseconds(10); duration=pulseIn(echopin,HIGH);
pinMode(trigpin,OUTPUT); return duaration / 29 / 2
pinMode(echopin,OUTPUT); }
pinMode(L_S,INPUT); Void stop(){
pinMode(R_S,INPUT); analogWrite(motor_11, 0);
Serial.begin(9600); analogWrite(motor_l2, 0);
delay(1000); analogWrite(motor_r1, 0);
} analogWrite(motor_r2, 0);
void loop(){ }
frontdist = data(); Void forward(){
Serial.println(frontdist); analogWrite(motor_11, speed);
if(frontdist>setdist){ analogWrite(motor_l2, 0);
if((digitalRead(L_S) == 0) && (digitalRead(R_S) == analogWrite(motor_r1, 0);
0){forword();} analogWrite(motor_r2, speed);
if((digitalRead(L_S) == 0) && (digitalRead(R_S) == }
1){turnRight();} Void backword(){
if((digitalRead(L_S) == 1) && (digitalRead(R_S) == analogWrite(motor_11, 0);
1){turnLeft();} analogWrite(motor_l2, speed);
© 2021, www.IJARIIT.com All Rights Reserved Page |719
 International Journal of Advance Research, Ideas and Innovations in Technology
analogWrite(motor_r1, speed); [9]. Hagras,H., Pounds-cornish, A., Colley, M., Callaghan,
analogWrite(motor_r2, 0); V.,Clarke,G.: Evolving Spiking Neural Network Controllers
} for Autonomous Robots. Proceedings of the 2004 IEEE
Void turnRight(){ International Conference on Robotics and Automation , pp.
analogWrite(motor_11, 0); 4620-4626., 2004
analogWrite(motor_l2, speed; [10]. Charles A. Schuler, Willam L. McNamee, “Industrial
analogWrite(motor_r1, 0); Electronics and Robotics,” McGraw-Hill International
analogWrite(motor_r2, speed); Edition, Industrial Electronics Series 2003.
} [11]. Nor Maniha Abdul Ghani, FaradilaNaim, Tan Pi own yon,
Void turnLeft(){ "Two Wheels Balancing Robot with Line Following
analogWrite(motor_11, speed); Capability ".
analogWrite(motor_l2, 0); [12]. Colak, I., Yildirim, D.,"Evolving a Line Following Robot
analogWrite(motor_r1, speed); to use in shopping centers for entertainment”, Industrial
analogWrite(motor_r2, 0); Electronics, 2009. IECON '09. 35th Annual Conference of
} IEEE, pp.3803 - 3807, 3-5 Nov. 2009.
[13]. T. Gomi, K. Ide, “Evolution of gaits of a legged robot",
10. CONCLUSION IEEE International Conference on Fuzzy Systems 06/1998;
Thus, the line follower robot is successfully designed and DOI:10.1109/FUZZY.1998.687476 ISBN: 0-7803-4863-X
implemented. The advanced version of these robot can be used In proceeding of: Fuzzy Systems Proceedings, 1998.
in Public Transports and other means of Public Transit. These [14]. Román Osorio,” Intelligent Line Follower Mini-Robot
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microcontroller Mohideen, Yap Keem Siah, Jeffrey Tan Too
Chuan,"Analysis of Line Sensor Configuration for the
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