Arignar Anna Institute of Science &Technology

Electrical and Electronics Engineering,

DESIGN AND IMPLEMENTATION OF LINE

FOLLOWER ROBOT USING ARDUINO
MICROCONTROLLER

GUIDED BY
PRESENTED BY Mr. K.SATHIYAMURTHI M.E.,  
LOKESH.B (210318105005) ASSISTANT PROFESSOR,  
SNEHA.K (210318105008) PROJECT SUPERVISOR,
MADASAMY.K (210318105304) Electrical and Electronics Engineering,
Arignar Anna Institute of Science &Technology,
VIJI.G (210318105309) Chennai-602117
 CONTENTS

• Introduction
• Components
• Working Principle
• Block Diagram
• Application
• Advantages and Disadvantages
• Programming on Arduino
 ABSTRACT
Line following robot is an autonomous vehicle which detect
black line to move over the white surface or bright surface. In
this project, the line following robot is constructed by using
Arduino nano microcontroller as a main component and consists
of three infrared (IR) sensors, four simple DC motors, four
wheels and a PCB frame of robot chassis. The infrared sensors
are used to sense the black line on white surface. When the
infrared signal falls on the white surface, it gets reflected and it
falls on the black surface, it is not reflected. In this system, four
simple DC motors attached with four wheels are used to move
the robot car's direction that is left, right and forward. The
Arduino nano is used as a controller to control the speed of DC
motors from the L2953D driver circuit
 OBJECTIVES

The robot must be capable of following a line.

It should be capable of taking various degrees of turns.

The robot must be insensitive to environmental factors

such as lighting and noise.
It must allow calibration of the line’s darkness threshold.

Scalability must be a primary concern in the design.

Sensing a line and
maneuvering the
robot to stay on What is the
need to build
course, while line following
constantly correcting Robot?

wrong moves using

feedback mechanism
forms a simple yet
effective closed loop
system.
BLOCK DIAGRAM
 WORKING PRINCIPLE
 Line following robot senses black line by using Infrared sensor and
then sends the signals to Arduino. The two IR sensors are used for
path detection purpose. These sensors attached at the front end of the
robot.
 When IR sensors transmit the signal and it reflect the surface area and
receive from surface area as the receiver.
 The electrical signals from Arduino Nano flow into the data pin
connected with it. To work as its program, the signal flow into the
motor driver card as a signal and is able to adjust and work
continuously motor driver as the signal flow frequently.
 As line following robot is contracting to pass on the black line, it pass
as its line. If line is centered in front of robot, line following robot
goes forward. When the center sensor is high and the remaining
sensor is low the center sensor is will always be on the line and as
line is black in color
 COMPONENTS

• Arduino What are we

• IR Sensor using?

• IC L293D
• Motors
• LFR Chassis
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 and interactive objects that
can sense and control objects in the
physical world.
 CONT..

THE HEART OF ARDUINO IS THE MICROCONTROLLER.

FOR ARDUINO UNO ATMEGA328 IS USED.

IT HAS SPECIFICATION OF 8 BIT CPU,

16 MHZ CLOCK SPEED,

2 KB SRAM 32 KB FLASH MEMORY,

1 KB EEPROM
 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.
 CONT..
the combination of IR- led and photodiode is
used as the reflective optical sensor.
 it generate interrupt when the IR-beam is break
to the photodiode.
to create the IR break- beam, IR led is used with
a low value resistor so that it shines very bright.
 the receiver is photodiode which biases 'on'
whenever the IR led's light is detected.
a sensor will be placed adjacent the IR link and
turned on so as to generate a pulse to the
Arduino.
 L293D(H-
BRIDGE)
• Motors are arrangedin 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, with an H-
bridge, a microcontroller, logic
chip, or remote control can
electronically command the
motor to go forward, reverse,
brake, and coast.
MOTORS
The motors rotate
clockwise and anti-
clockwise based on the
program. In the motor
electrical energy is
converted into mechanical
energy.
 CONT..
• There are generally three basic types of motor, dc motor,
even servomotor and stepper motor, which are always
being used in building a robot.

• Dc motors are most easy for controlling. one dc motor has

two signals for its operation. reversing the polarity of the
power supply across it can change the direction required.
speed can be varied by varying the voltage across motor.
MOTOR LOGIC
HARDWARE-TOP
VIEW
IR SENSORS
DESIGN OF PATH
 PROGRAMMING ON
ARDUINO
int a=6,b=7; digitalWrite(4,LOW);
void digitalWrite(5,HIGH);
setup() Serial.println("LEFT");delay(1);
{ pinMode(a,INPUT); }
pinMode(2,OUTPUT); else if((digitalRead(a)==HIGH)&&(digitalRead(b)==LOW))
{
pinMode(3,OUTPUT); digitalWrite(2,HIGH);
pinMode(b,INPUT); digitalWrite(3,LOW);
pinMode(4,OUTPUT); digitalWrite(4,HIGH);
digitalWrite(5,LOW);
} pinMode(5,OUTPUT); Serial.println("RIGHT");delay(1);
Serial.begin(9600);
void loop()
{ }
if((digitalRead(a)==HIGH)&&(digitalRead(b)==HIGH))
{ else if((digitalRead(a)==LOW)&&(digitalRead(b)==LOW))
digitalWrite(2,HIGH); {
digitalWrite(3,LOW); digitalWrite(2,HIGH);
digitalWrite(4,LOW); digitalWrite(3,LOW);
digitalWrite(4,LOW);
digitalWrite(5,HIGH); digitalWrite(5,HIGH);
Serial.println("FORW Serial.println("BACK");delay(1)
ARD");delay(1); };
}
else }
if((digitalRead(a)==L
OW)&&(digitalRead(
 APPLICATIONS

• Industrial automated equipment carriers.

• Automated cars.
• Tour guides in museums and other similar applications.
• Deliver the mail within the office building
• Deliver the medication in hospital
 ADVANTAGES

• The robot must be capable of following a line.

• Insensitive to environment factors like noise andlightning.
• 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.
 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.
 CONCLUSION
Design and construction of line following robot was designed in
this paper. This design is based on Arduino microcontroller. The
robot car moves left, right and forward direction on the black line
of white surface by using four simple DC motors attached with
four wheels. The speed of the motors is controlled by L293D
driver circuit. The directions of the robot car are controlled by
using sensing signal of IR sensors from Arduino nano
microcontroller. The colour is sensed by using two IR sensors. If
the sensing colour is white, robot car moves and if the sensing
colour is black, robot car does not move.
 References

1. B. Klaus and P. Horn, Robot Vision. Cambridge,MA: MIT Press,

1986.
2. J. Warren, J. Adams and H. Molle, "Arduino for Robotics," in
Arduino Robotics, New York, Apress publiction, 2014, pp. 51-83.
3. Jim, "PWM/PID/Servo Motor Control," 2005. [Online].
Available: http://www.uoxray uoregon.edu. [Accessed 15
December 2015].
4. Komonya, S. Tachi, K. Tanie, "A Method for Autonomous
Locomotion of .Mobile Robots,''in Journal of Robotics Society of
Japan, vol. 2, pp.222-231, 1984.
5. S. Monk, Programming Arduino Getting Started with Sketches,
New Delhi, India: Tata Macgrawhill, 2012.
6. Open Source community, " Open Source Sketch," January 2015.
[Online]. Available: https://www.arduino.cc
/en/Guide/Introduction. [Accessed 25 November 2015].
7. A. Parsad, "Line Following Robot,"Dept. Elex. & Comm. Eng.,
Visvesvaraya Technological University, Banglore, India, 2005
Thank You