Line Design:

Creating a Line Tracking Robot

Tania Titu
Background Methods Results continued Conclusion
Phase I: Research and Construction
According to The Encyclopedia of Quality of Life and
The robot successfully met the
Movement Testing
1. Thoroughly research line-tracking robots to gain an understanding of Trials Does it move? Does it follow the Adjustments Made Observations
Well-Being Research, transportation deeply influences them and the materials needed to create them. line?

our day-to-day life and is extremely important to society 2. Obtain the materials needed to build the robot.
3. Solder 2 jumper wires onto each of the 4 motors using soldering
Trial 1 Yes No N/A It spins and moves randomly.
Some of the wheels seem to spin
easier than others.
objectives of being able to track a
as a whole (Todd, 2014). Transportation can affect wire.
4. Take the wooden box and attach 4 motors to the bottom of the box
Trial 2 Yes No Wiring + Wheels
Adjusted
It moves backwards in a straight
line, but still isn't following it. line and move smoothly. The robot
society in many ways and "[a]ny change in the Trial 3 Yes No Switched back It still moves backwards without

transportation system of a region affects human

using hot glue.
adjustments on
wiring
following the line.
was not able carry at least one
5. Attach the wheels to the motors and drill 2 holes on each side for the Trial 4 Yes No Coding Adjustments It continues to move backwards

behavior" (Manheim, 1973). When most people think of wires and 2 more where the Arduino will go. Trial 5 No No Coding Adjustments
without following the line.
This time, it isn't even moving at kilogram and was only able to
6. Screw the Arduino into the designated area. Attach the motor drive all.
transportation, they think of cars, airplanes, and trains. shield onto the Arduino. Trial 6 No No Coding Adjustments
+ Added Wooden
It still isn't moving. An inference
can be made that the problem is
successfully carry about 0.1 kg.
However, transportation on a smaller scale can be just 7. Pull the wires attached to the motors through the remaining holes
The scientific method was used
Holding Container most likely in the coding or the
box placed on top of it.
and screw them into the motor drive shield in the area labeled with the
as important. A method of transport inside hospitals and Trial 7 No No Removed Wooden It isn't moving after removing the
motor numbers using a screwdriver.
continually in this project when
Holding Container + box. This proves that the
your own home can benefit all kinds of people. 8. Attach the infrared sensors to the front of the robot, so that it can Adjusted wheels problem is most likely in the
coding.

Transportation for items inside the home can help sense and track lines.
testing, researching, and
Trial 8 No No Coding Adjustments It is still not moving after turning
9. Connect jumper wires from the sensors to the motor drive shield. it on.

people with physical disabilities and can also be used 10. Fix the battery holder onto the back of the robot using hot glue and
Trial 9 No No Reverted Coding to It is still not moving. At this point,

just for convenience. If there were something that could place the batteries inside them.
original from the first after experimenting with the
trial coding, wheels, weight, and
wiring, a decision was made to
redesigning the robot. In the future,
11. Attach the wires of the battery into the 2 screws left on the motor
I can improve the robot by
rebuild a slightly smaller version
deliver medicine in hospitals, less personnel would be drive shield.
of this robot with the same
design to eliminate any mistakes
that might have happened while
required and current personnel would be able to focus 12. Use the Arduino IDE software to upload the code and adjust it
on other important tasks. The purpose of the project is to
according to the placement of the motors and sensors.
building the robot for the first
time. adjusting it so that it can carry
13. Using a USB cable, upload the code from the computer to the
create a multifunctional robot that has the ability to track robot.
Trial 10 Yes No Complete rebuild of
robot
Before testing, even more
research was done on IR
sensors and their calibration.
more weight and make sharper
Phase II: Calibration and Testing
a line and travel smoothly. As mentioned previously, it
1. Calibrate the robot by turning it on and placing it above a white
The problem in this trial seems to
be that the robot goes anywhere
it wants but stops as soon as it
turns. I can do this by using lighter
could be used in homes, hospitals, and even surface. The wheels should be spinning forward and both of the LED
materials, using a stronger battery,
senses the line. This indicates
that either the calibration or

warehouses and assisted living facilities to aid in lights on the sensor should be on. If the lights aren't on, use a coding is wrong.

resolving many different problems..

screwdriver and turn the potentiometer clockwise until they are.
2. Place it on black line, and make sure one of the sensors is right Trial 11 Yes Yes Calibration
Adjustments
The robot followed the line
perfectly and stopped at the
and adjusting the turning radius
above it.
and the speed of the turns. In
correct point.

3. Ensure that only one light is on in each sensor. If not, turn the Trial 12 Yes No Track Adjustments A curve was added to the track

Objectives
to see if the robot could follow
potentiometer counterclockwise until it does. Calibration is now
complete.
that. The robot did at first, but
ended up going straight forward
after it reached the point of the
conclusion, this multifunctional
robot can be used for a diverse
curve. This most likely means
4. Create a track out of black tape for the robot to follow. that the robot can't make sharp

• Create a working prototype of a 5. Turn on the robot and make observations on what happens. If the turns.

robot doesn't follow the line, adjust the wiring, wheels, code, and
range of tasks, however, there are
Trial 13 Yes Yes Track Adjustments The curve was softened and the

robot that is able to transport at least calibration.

1 kilogram.
• The robot must be able to track and
follow a line.
• Must be able to smoothly move and
travel over a designated track.
robot followed the line perfectly.
This confirms that the robot
cannot make sharp turns, but is
6. Continue to make adjustments and run as many trials as needed
until the robot can successfully follow the line. Movement testing is now
able to make wide turns.
still many improvements and
complete.
7. After the robot passes movement testing, start on weight testing.
Figure 3, Movement Testing Data Table. At first, the modifications that can be made in
robot was unable to follow the line. But after
Place objects of the desired weight onto the robot and place it onto the
experimenting with the robot, it was able to work after the near future. Photos and
track.
13 trials.
8. Turn on the robot and observe what it does. Adjust the weight put on
top of the robot and run more trials to learn how much the robot can Weight Testing
blueprints created by T. Titu.
carry. Weight Carried (kg) Does it successfully Observations

References
transport the
weight?

Results
Trial 1 0.5 kg No It can carry the
weight on a

Materials
straightaway;
however, it goes off
course on the turns.
Manheim, M. L. (1973, November 30).
Trial 2 <0.1 kg Yes It can carry the
weight on all parts Societal issues and transportation
(

education. Transportation research

of the track.
• Hot Glue Gun and Glue • 6 AA Battery Trial 3 <0.2 kg No It can carry the
weight on a

Arduino Uno Holder

• Arduino Motor Drive
Shield
• (x4) DC Motors
straightaway;
however, it goes off
board special report. Retrieved December
• Jumper Wires
course on the turns,
just like in trial 1.
5, 2021, from
This proves that the
robot can only carry https://trid.trb.org/view/26205.
• Drill very little weight
without going off
• Screws and course.

Todd, L. (2014). Encyclopedia of quality of

• (x8) Rubber Wheels
• (x2) Infrared Sensors
• (x6) AA Battery
• 18 cm x 10 cm x 10 cm
Wooden Box
Screwdriver Figure 4, Weight Testing Data Table. The objective was life and well-being research.
• Black Tape to have the robot carry 1 kg, but it can only carry about
0.1 kg. This is most likely because the battery isn’t Transportation and the quality of life.
• USB Cable Figure 1, Prototype
Blueprint.
strong enough to power the robot and carry too much https://doi.org/10.1007/978-94-007- 0753-5
• Computer weight. It could also be because the robot is so light
Figure 2, in the process
• Soldering Kit that a small amount of weight makes it much harder to
of building the prototype. move.