BHARATI VIDYAPEETH INSTITUTE OF TECHNOLOGY

BELPADA, NAVI MUMBAI

DIPLOMA IN
ELECTRICAL ENGINEERING

2023-‘24

CAPSTONE PROJECT PLANNING (22058)

PROJECT PROPOSAL
ON

LINE FOLLOWER ROBOT USING ARDUINO UNO

SUBMITTED BY

3302-Keshav Parmeshwar
Zambare 3303-Mayuri Krishna
Chandankar 3316-Ishaan Nilesh
Pawar
271109- Pradnya Vijay Valanju
ABSTRACT

The Line Follower Robot using Arduino Uno is a robotic system designed for
autonomously tracking and following a predefined line on a surface. This project
utilizes infrared sensors to detect the line's position and an Arduino Uno
microcontroller to process sensor data and control the robot's movements.

The robot employs a closed-loop feedback system, adjusting its motor speeds
based on real-time sensor inputs to maintain alignment with the line. This abstract
highlights the educational value of the project, emphasizing its role in enhancing
skills related to sensors, programming, and robotics.

Additionally, it acknowledges challenges such as calibration and turning

maneuvers while emphasizing the versatility of the robot for potential extensions to
more complex tasks. The Line Follower Robot serves as a practical and engaging
platform for hands-on learning and experimentation in the field of robotics.
INTRODUCTION

As the name suggests, the line follower robot is an automated vehicle that follows
a visual line embedded on the surface. This visual line is a path on which the line-
follower robot runs. Generally, it uses a black line on a white surface, or you can
adjust it as a white line on a black surface.

Usually, beginners and students would get their first robotic experience with this
type of robot. We learned how to make a line follower robot with Arduino in this
project-based article.

Line follower robots are used to assist the automated production process. They are
also used in military applications, human assistance purposes, delivery services,
etc.

The line follower robot using ARDUNIO UNO is an exciting project that
combines electronics, programming and robotics. This robot is designed to
autonomously follow a predefined path or line on the ground, making it a popular
choice for educational purpose and hobbyists interested in robotics.

The core component, the Arduino UNO micro-controller, acts as the brain of the
robot, processing sensor data and controlling motors for precise navigation.
WORKING OF LINE FOLLOWER

The concept of the line follower robot is related to light. Here, we use the behavior
of light on the black-and-white surface. The white color reflects all the light that
falls on it, whereas the black color absorbs the light.

In this line-follower robot, we use IR transmitters and receivers (photodiodes).

They are used to send and receive the lights. When IR rays fall on a white surface,
they are reflected toward the IR receiver, generating some voltage changes.

Black surfaces absorb infrared radiation and do not reflect any of the rays that fall
on them; therefore, no photons reach the infrared receiver.

In this project, when the IR sensor senses a white surface, an Arduino gets 1 (high)
as input, and when it senses a black line, an Arduino gets 0 (low) as input. Based
on these inputs, an Arduino Uno provides the proper output to control the bot.

Components Used in Line Follower Robot :

Arduino Uno
IR sensor
motor driver
Body operated motor
Wheels
Lithium-ion battery
Jumper cables
INFRARED SENSOR :

The sensor senses the IR light reflected from the surface and feeds the output to the
onboard op-amp comparator. When the sensor is situated over the white
background, the light emitted by the sensor is reflected by the white ground and is
received by the receiver. But when the sensor is above the black background, the
light from the source doesn’t reflect to it. The sensor senses the intensity of
reflected light to give an output. The sensor’s output is fed to the microcontroller,
which gives commands to the motor driver to drive the motor accordingly. In our
project, the Arduino Uno is programmed to make the robot move forward, turn
right or turn left and stop according to the input coming from the sensor. The
output of the Arduino is fed to the motor driver.

Why We Require a Motor Driver?

The reason to use a motor driver here is because the output signal of an Arduino is
not sufficient to drive the motor, furthermore, we need to rotate the motors in both
directions, therefore we use a motor driver to drive the motor as required and also
the motor driver is able to supply sufficient current to drive the motor.
Here, we are using a 7.4 li-ion battery to power the whole circuit.
You can use any battery type from 6-12 volt.
To move the robot, we need to use motors with low RPM but torque high enough
to carry the weight of the robot. So, I chose two 60 RPM 6V Battery Operated,
geared motors for this robot.

ARDUINO BOARD :-

This board contains a USB interface i.e. USB cable is used to connect
the board with the computer and Arduino IDE (Integrated Development
Environment) software is used to program the board.

The unit comes with 32KB flash memory that is used to store the
number of instructions while the SRAM is 2KB and EEPROM is 1KB.

The operating voltage of the unit is 5V which projects the

microcontroller on the board and its associated circuitry operates at 5V
while the input voltage ranges between 6V to 20V and the recommended
input voltage ranges from 7V to 12V.

Arduino UNO Components :-

The Arduino UNO board contains the following components
and specifications:

ATmega328: This is the brain of the board in which the program

is stored.

Ground Pin: there are several ground pins incorporated on the board.

PWM: the board contains 6 PWM pins. PWM stands for Pulse Width
Modulation, using this process we can control the speed of the servo
motor, DC motor, and brightness of the LED.

Digital I/O Pins: there are 14 digital (0-13) I/O pins available on the
board that can be connected with external electronic components.
Analogue Pins: there are 6 analogue pins integrated on the board. These
pins can read the analogue sensor and can convert it into a digital signal.

AREF: It is an Analog Reference Pin used to set an external reference

voltage.

Reset Button: This button will reset the code loaded into the board. This
button is useful when the board hangs up, pressing this button will take
the entire board into an initial state.

USB Interface: This interface is used to connect the board with the
computer and to upload the Arduino sketches (Arduino Program is
called a Sketch)

DC Power Jack: This is used to power up the board with a

power supply.

Power LED: This is a power LED that lights up when the board
is connected with the power source.
Micro SD Card: The UNO board supports a micro SD card that allows
the board to store more information.

3.3V: This pin is used to supply 3.3V power to your projects.

5V: This pin is used to supply 5V power to your projects.

VIN: It is the input voltage applied to the UNO board.

Voltage Regulator: The voltage regulator controls the voltage that goes
into the board.

SPI: The SPI stands for Serial Peripheral Interface. Four Pins 10(SS),
11(MOSI), 12(MISO), 13(SCK) are used for this communication.
TX/RX: Pins TX and RX are used for serial communication. The TX is
a transmit pin used to transmit the serial data while RX is a receive pin
used to receive serial data.

Arduino UNO Pinout

There is a range of Arduino boards available in the market but the

Arduino UNO is the most common board used in the electronic
industry. The following figure shows the Arduino UNO Pinout for better
understanding:
Assembling the Line Follower Robot

Once we have understood the connection of all the components, we can start
assembling our LFR. I have explained the step-by-step assembly procedure of the
Robot in the video provided at the bottom of the page.

To make this robot, first we need a robot body; here I am using a homemade
chassis. You can either use a readymade chassis or build one yourself.

Now, place the BO motors to the chassis with the help of some hot glue as shown
in the image below.

Next step is to place the motor driver on chassis and connect the motor wires to the
output of the motor driver.
Next, bend the IR LED and sensor as shown in the image.

Then place the sensors on the downside of the robot, adjust the sensors according
to the track width and robot width. Remember that one sensor is for left side
detection and another is for the right side detection.
Connect the VCC pins to 5volt and the ground pins to ground.

Now, connect the enable pins of the motor driver to pin 5 and 8 of Arduino and
connect the motor driver input pins to pin number 6, 7, 9 and 10 of Arduino
respectively.

Finally, connect the battery with the circuit and place the battery on chassis. Here,
I have connected everything with jumper wires. To make a permanent setup, you
can directly solder everything together.

Now turn the board upside down and with the help of hot glue gun, attach the
castor wheels as shown in the image below.

Finally, add the wheels. For extra safety, I have added a plastic sheet as a bumper
too.
APPLICATIONS OF PROJECT

Line followers can be used to deliver mail within an office building It can be used
to deliver medications in a hospital.
The technology has been suggested for running buses and other mass transit
systems ,and may end up as part of Autonomous cars navigating the freeway. The
line follower can be used in guidance system for industrial robots moving On shop
floor. AN example might be in a warehouse where the robots follow ‘tracks’ to and
from the shelves they stock And retrieve from. A line follower robot can be used in
military as spy kids or in many other applications.

LIMITATIONS OF PROJECT

 The system has restricted to the following limitation.

 The IR sensor cannot be work in the day light it works only in the dim light
or room light .
 Few curves are not made efficiently, and must be avoided
 The turning radius should be of minimum 50m to take smooth U-turning of
robot
 The width of the path must be of 35mm so that it can cover minimum 2
sensors.
 The path should be plane and obstacle free.
 The steering mechanism is not easily implemented in huge vehicles and•
impossible for non-electric vehicles.

CONCLUSION
In this project, we have designed a line following robot. This robot does not need
any remote controller or any controller Like Bluetooth, Wi-Fi, GSM, driver etc, it
will run automatically with following a line. We have not used any
Microcontroller. This robot is very low cost but very effective for various
purposes. Our project can be used in various Sectors like in medicine delivering in
hospitals, delivering products in any places, spying, and surveillance and so on. In
Future we can add several sensors, cameras etc to get more features.