Name of the Experiment:ine follouoes

VNR VJIET Robot

Name of the Laboratory:
Experiment No: D a t e : 28 923
Ibl kabovatmy
ine Follouwe Robo
a n e foLooen y0bot using
Aim: To desian and împltmunt
an andiino .

Appasaliu: d u i n o UNO

Infantd (IR)Sevors
module (t-Bridae)
Motor dalv
Pbuwer Supp
Wheels
Jump wTes

autonommaus voloot dorigned|

i a populaA
foowu obot In this
A ine wih the hlpd07 Kruors.

follouw a ine pa th iteet the

d i t w t the
co
c ss
tbaasst
t

to senwors an
wsLa to
AnAoTs
Thiue
ebup, inraned munoundiüng
Mufaw.
betuoeen
the üne and
micxocontroiler,
which pro ema the|
to Arduun0 basioncept
providu input motors. Thu tu doot
wnbros thu obot's
whthu 0ot|
d a t and sunWOY
dola to detinmine
it. Based m
Baca on
veadir
nq to the ight o)
mvolves

line ,
to the l e t o1t pr
Commands to
hemot
th Mnds
o omtvln a s nudeA|
is the micko r right
owand, tuun tet
infomatiom,
this to move allows he
thi
obot
minuns fudback loop
isbrucing hus
The ne. algaithm
Ata
O
autonomow.The PID t n t r o l
path fo prece tracking
to
oot to follow
follou
movemunts
nt to the mbots
Hne-tune

m d to
7in
madule
and motor drivu
Procudue c h a s M , Motors,
whuls wires.
bot
)Assenbu
thu
to he
aauino n g Jumper
that Tads data
)COTnect the Ik RrOTS maiuino IDE
amun° pooqram wng b a s d on the
bascd
ann antrols the motors
the m otors
ulrite and onr
ana
enUTS
thw
from
dututed Une poitim.
nterfacing Diaqam:

TR
DT
DI 3 A SENSORS
H-Brida DLY DI8
5V
DI S say DI9 GND
ARDUINtO

UNO

Awgot 5Y
GND

3
 VNR VJIET Name of the Experiment:/n.follmats
Name of the Robot
Laboratory:
Experiment No: Date: 1814|23
4)irplement a ontaol akaorithm uch an PiD, to make Tlal t
duisios about motoY actions to kuup mbot founwng the ne.
5) Uploadhe odi to the amduino board.
the ine tracke you want it to folow.
o
6) Plau the ooot om

and It shonld Atant

fol lawing thu ine
7) bwer on thu olo ot

aubonom0w

COnst in Sw1 A0;

Cnst int Sw2 =Al;
Const int sw3- A2:
COnAt int Swy 8
onst int 605 9;
conNt int hl: 2:
orwe int h2: 3
COrst nt h3 »4

Copst int hu- S

taD »0:
nt swis
nt guw2state - 0 ;

State -0;
int sw3
int Swustaa -0:

Swtalh -
O
int
void seüp C) {
pinMode (S01, 1NPUT);

Pin Mode (so2, iN PUT)

Pinmode (5w3 ,gUTPUT);

pin Mo de (swy , INPUT);

INPUT)3
PinMode (Suw5
bUTPUT)
pinMOdu (ht,
O0TPO TD
plnModa (h2,
pinModu (h3,0UTPUT);
pinMode (hu, 0UTPUTD
 VNR VJIET Name of the
Experiment:dine ne
Name of the Kobot
Laboratory:
Experiment No: Date:28l4l22
void loop )
Sw1stat digitalRiad (swa):
Sw2State digital RLad (sw2);
Sw3Stat diqital Raad (sw)
Soustate digitalRiad (swu)i
sw5 Stat AiaitalRaad (suos)
if(s1Stat. - LO) lForward&
digital wma (hl, HlGH)
digital write (h2, Low)
diqital ito (h3, HI6t):
diqital writ [hy,LON);

Usef (sw3 State =-LOw ||swstate - LOuw) Left

digital wito (hi,Low)
digitalwrit (n2, t H)%
digital0nt (ha, dii@H);
digitalwnt (h4, LOW);
eit (sw2 Stat - L0us ll suwsstato -=LDw) IRigh
digitawritt (hl, tilGH):
digital wntu (h1, Louo)
diqi tal uriT (h3, LOW);
dintal wntu (h4, tiIGH);
diqitalu0i [hi,Low)
di itau wnte (h2, Loo)
digitalw0mti (h3, LOw)
digitab n u (hu, Low)i
will be abll to autnamau
the une foUowu 0loot
Rinur:is,
detecting
the Mpeufied paun by comeinubww
navioale alona MennorS
h e ine wsing infrarrd
and tracking
 VNR VJIET Name of the Experiment:.fhctadh
Noidanc Robot
Name of the Laboratory:
l01 KabTaton Experiment No:08 Date:28123
Obstadu tvoidana Robot
dostada avoidance oloot uring
io: 10 duign and implement
an

an hduino
ppanauA: Tduino UNO.
IR proximity sensor,

H-Brdo,
Pow Suppl motors and whuls,
Chasis with
Jumpu wires.

Th&4 Avoidane Yoboti ame digned to move automorwousy

Obstade thein path. in
dutuubnq and ovoidna
obstades
n
while m the obot's front
to
rs a posi tioned
ths, IR emi ting infraua ight
ihis hnvos
wk by is
dutet oo jecs. .whun an bject
the refution time tonúollen
and mauing to the micro
sensor sends a manal
detected, the this data and
ditemines
h e n prvwms
Th
miDUOntrolltu
wnbinuu moving
fouand tuun ut
he obot honla H-bridae
whether
tD avoid the
olostacu. hu
twn mht 0Y Atop the dlvedion and pud
s Wa to controd
mo toY
div
T4uura moveminta
Unabiin4 C EUU
of Yobot's motbrS,
Pvocedun wheels and H-bmdge.
the vbot chassis, motdrs, .osition
hssemble wires
lR Krvor to
rduáno uhng JumpU
Comnect the TUbot to diu dbstaclu.
frun o sennon and
them on thu to read data om 1e
rduino proqyam
wite a n bakca n dostade diteium.
the motorS and
cOnbre senOY data
in The ode to inte pret
u) Ioplement l0gie
a b u t motor
actions to avoid vbstacle
make deisims
 Interfauina Diaqram

TRSENSDR OP
DI 2 AD
DI 3 5V
t-Brido DIy
DT 5
ND
lrd-t
ARDUINO
UNO
5
GND

iodor suGou
Jair

uradh A

234
 VNR VJIET Name of the Experiment:@btacle
foidanuw Lokot
Name of the Laboratory:
lOT daboválmy Experiment No: 08 -Date:284
0pload the codu to he Ardulno board.
omm h i and it Khouid auktnomuy
oo0t. naviqdlu
6)Pbuwt tbs tads in it path.
while avoiding
Boqram iT #0;
Const int
COmst int hl 2
COns int h - 3
Comst int h3 » yM:
COTsE int hu> S;

void seip C) &

INPUT);
pin Mode lir,
PinModz bI.oUTPUTD
pinmode[h>,00TPUT)D
piniVo de (h3,0UTPUT);
pioMode (hu, DOTPUT);

Void Loop )
(ir), - LOW)
i4 ldigitalkiad
digjtalwrite(ht, Low);
Hil6H);
digital writu (h2,
digitaldit (h3, LOw)
diqitalwiu (hu,tláH);

delayltoo)
diqital wiu (hi,L0w;
t ha,HiGH);
digi talwi
di qitalwrite
(ha, HI6H);
digital wrmt (hu, Lon);
delaylop0);
3
 VNR VJIET Name of the Experiment: Pbstai
hvoidane Robot
Name of the Laboratory:
lo kabo%ala Experiment No:06 Date: 28a|12

digitauoritu(hi, HlGH)
digitalwitt (h2, Lo);
diqitalwnt (h3, HlGH);
digitalwite [hu, LOn);

RLult auoidana b o t
will move
autonomouly,

6ostadle th
Thus, the Dbstades in is path using
and avdiding
detecing MotUr Con tro.
Senser and d-bnda
IR