Project-I Report

on

Line
Following
Robot
submitted for Mid term Evaluation for
attainment of

Bachelor of Technology
in
Electronics and
Communication

Submitted by

Ansh Kariwal
2K20/B12/06

Aryan Dutt
2K20/B12/27

Under the Supervision

of
Ms. Rinchin Mosobi

Department of Electrical
Engineering

Delhi Technological University

Bawana Road. Delhi -110042
December -2020
 DECLARATION

We hereby certify that the work, which is presented in the Project-I entitled
Line Following Robot in fulfilment of the requirement for the award of the Degree of
Bachelor of Technology in Electronics and communication and submitted to the Department
of Electrical Engineering, Delhi Technological University, Delhi is an authentic record of
our own, carried out under the supervision of Ms. Rinchin Mosobi.
The work presented in this report has not been submitted and not under consideration for the
award for any other course/degree of this or any other Institute/University.

Ansh Kariwal Aryan Dutt

2K20/B12/06 2K20/B12/27

B.Tech, Electronics and B.Tech, Electronics and

Communication Communication
 Electronics and Communication
DELHI TECHNOLOGICAL UNIVERSITY
Bawana Road, Delhi-110042

CERTIFICATE

I hereby certify that the project Dissertation titled “Line Following Robot” which is

submitted by Ansh Kariwal & Aryan Dutt (2K20/B12/06, 2K20/B12/27)

[Electronics and Communication], Delhi Technological University, Delhi in

complete fulfilment of the requirement for the award of the degree of the Bachelor

of Technology, is a record of the project work carried out by the students under my

supervision. To the best of my knowledge this work has not been submitted in part

or full for any Degree or Diploma to this University or elsewhere.

Place: Ms. Rinchin Mosobi

(Professor)
Date: SUPERVISOR
 Electronics and Communication
DELHI TECHNOLOGICAL UNIVERSITY
Bawana Road, Delhi-110042

ACKNOWLEDGEMENT

In performing our major project, we had to take the help and guideline of
some respected persons, who deserve our greatest gratitude. The completion of this
assignment gives us much pleasure. We would like to show our gratitude to Ms.
Rinchin Mosobi, Mentor for major project. Giving us a good guideline for report
throughout numerous consultations. We would also like to extend our deepest
gratitude to all those who have directly and indirectly guided us in writing this
assignment.

Many people including our classmates and team members itself, have made
valuable comment suggestions on this proposal which gave us an inspiration to
improve our assignment. We thank all the people for their help directly and
indirectly to complete our assignment.

In addition, we would like to thank Department of Electrical Engineering,

Delhi Technological University for giving us the opportunity to work on this topic.
 INTRODUCTION

Line Following is one of the most important aspects of robotics. A Line Following

Robot is an autonomous robot which is able to follow either a black line that is

drawn on the surface consisting of a contrasting color. It is designed to move

automatically and follow the line. The robot uses arrays of optical sensors to identify

the line, thus assisting the robot to stay on the track. The array of two sensor makes

its movement precise and flexible. The robot is driven by DC gear motors to control

the movement of the wheels. The Arduino Uno interface is used to perform and

implement algorithms to control the speed of the motors, steering the robot to travel

along the line smoothly. This project aims to implement the algorithm and control

the movement of the robot by proper tuning of the control parameters and thus

achieve better performance. It can be used in industrial automated equipment

carriers, small household applications, tour guides in museums and other similar

applications, etc.
 HARDWARE

1) IR SENSOR
Infrared LEDs emit light in the infrared frequency spectrum. We can't

see infrared light because its wavelength (700nm – 1mm) is much longer than

visible light. The light emitting angle of IR LEDs is approximately 20-60

degrees, and the range is approximately a few centimeters to several feet,

depending on the type of IR transmitter and the manufacturer. The range of

certain transmitters is measured in kilometers. IR LEDs are white or

translucent in color, allowing them to emit the full amount of light.

As light falls on a photodiode, it conducts and acts as an IR receiver. A

photodiode is a semiconductor with a P-N junction that works in reverse bias,

which means that when light falls on it, it begins conducting current in the

opposite direction, and the amount of current flow is proportional to the

amount of light. It's useful for IR detection because of this property.

Photodiode has a black color coating on its outer surface, similar to that of an

LED. Black absorbs the most light.

2) ARDUINO UNO

The Arduino Uno microcontroller board is based on the ATmega328P

microcontroller (datasheet). There are 14 digital input/output pins (six of which can

be used as PWM outputs), six analogue inputs, a 16 MHz quartz crystal, a USB link,

a power jack, an ICSP header, and a reset button on the frame. It comes with

everything you'll need to get started with the microcontroller; simply plug it into a

device with a USB cable or power it with an AC-to-DC adapter or battery. You can

experiment with your UNO without fear of making a mistake; in the worst-case

scenario, you can replace the chip for a few Rupees and start over.

Arduino Uno is the brains of the robot. It is used to receive data from the IR

sensor module, processes the data using the loaded code and sends the appropriate

signal to the motor driver as the output.

3) L298N MOTOR DRIVER

In an integrated circuit, the L298N Motor Driver module includes an L298

Motor Driver IC, a 78M05 Voltage Regulator, resistors, capacitors, a Control LED,

and a 5V jumper. Only when the jumper is mounted will the L298N Motor Driver

Module 78M05 Voltage Regulator be activated. The internal circuitry will be

operated by the voltage regulator when the power supply is less than or equal to

12V, and the 5V pin can be used as an output pin to power the microcontroller.

When the power supply is greater than 12V, the jumper should be removed and a

separate 5V should be provided via the 5V terminal to power the internal circuitry.

ENA & ENB pins are speed control pins for Motor A and Motor B while IN1 & IN2

and IN3 & IN4 are direction control pins for Motor A and Motor B

The H-bridge configuration of the L298N motor controller is useful when

controlling the direction of rotation of a DC motor. The L298N motor driver also

allows for speed control. PWM (Pulse Width Modulation) signals must be fed to the

motor enable pins. The motor's speed can vary depending on the width of the pulses.
4) DC GEAR MOTOR

A gear motor combines a motor and a gearbox into one unit. When a gear

head is attached to an engine, the speed is decreased while the torque output is

increased. In terms of gear motors, the most important parameters are speed (rpm),

torque (lb-in), and performance ( percent ). To choose the best gear motor for your

application, you must first determine the load, speed, and torque specifications for

your application. Most of the DC motors can be paired with one of gearheads to

create a highly effective gear motor solution.

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 the motor
 WORKING

• IR sensors will constantly be emitting and receiving light and the

output will simultaneously be delivered to the Arduino.

• Depending upon the input (which sensor is detecting the line and

which one is not) Arduino will send the appropriate signal to the

motor driver.

• There will be four functions in the Arduino code.

• Now we will be explaining the four possible cases while the robot is

working.
CODE
 FINAL RESULT

CONCLUSION
Smarter versions of line followers are used to deliver mails within office

building and deliver medications in a hospital.

This technology has been suggested for running buses and other mass transit

systems and may end up as a part of autonomous cars navigating the freeway.

Line following robot can play a vital role in the field of healthcare. Line

following robot's application over electronics engineering can't be underestimated.

In India many people show reluctance to get admitted in a hospital due to high costs.

The cost for cure can be reduced by using the robots in government and private

hospital. It can be very beneficial for the patients as well. 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 on the line following robot, from which the status of

every patient can be handled from a different place.