line following obstacle avoiding robot

LINE FOLLOWING OBSTACLE AVOIDING ROBOT

6/1/2016 Project by -

Name Pankaj Kumar Enrollment No. 03976802814 Branch ECE-3 College Guru Tegh Bahadur Institute of Technology


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Certification

This is to certify that this project, the entire design and construction of the

Line Following and Obstacle avoiding robot was carried out and submitted as a

true work of Pankaj Kumar of Guru Teg Bahadur Institute of Technology (GTBIT)

college of Electronic and Communication Engineering (ECE) Branch with enrollment

number 03976802814 under the supervision of ____________________________.

_______________________ _______________________

_______________________ Date

(Project Supervisor)

_______________________ _______________________

_______________________ Date

(External Supervisor)


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Acknowledgement

I can only acknowledge the unquantifiable help God gave me throughout this project

work, always showing up whenever I got to the end of my line and felt like changing

the project to a simpler one. Most remarkable was the breakthrough He gave me

when I was stuck at one C code function for a day!

I am deeply indebted to my parents and siblings for their constant support

especially in circumstances where I find it hard to even convince myself that my

request for help is fair and reasonable. I am equally indebted my very

understanding, fatherly and enviable project supervisor who is always willing to go

above and beyond in counselling and supervising me.

I could not have been able to understand how to go about the vital aspect of the

project work if not for the supervisory assistance of my friends and colleagues

(Actually, all aspect of my project work was vital). I must also acknowledge my

colleagues who over the four years we have been together, in ways they themselves

do not understand, have been the vital components of my educational and personal

growth which also greatly rubbed on my successful completion of this project work.

I greatly appreciate the tripartite support and nourishment I enjoyed from the entire

family of the Chapel of Faith.


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Table of Content

S.no Content Page no.

1)

2)

3)

4)

5)

i)

ii)

6)

7)

8)

9)

i)

ii)

iii)

iv)

10)

11)

Project Report

Certification

Acknowledgement

Table of Content

Introduction

Line Following Robot

Obstacle Avoiding Robot

Working

Requirements

Labelled Photo

Some Important electronic Components

Arduino

Infrared Sensors

Ultrasonic Sensors

Motor Driver

Code

References

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LINE FOLLOWING OBSTACLE AVOIDING ROBOT Introduction:

Line Following Robot:

A line following Robot is a robot (usually a vehicle) which follows a distinguished

colored path (usually a black lined path). It consists of several electronic components

which makes it follow (usually with tires) a programmed path. The main component of

such robot is a microcontroller which is the brain of the robot.


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Obstacle Avoiding Robot:

An Obstacle Avoiding Robot is a robot (usually a vehicle) which follows a straight

path but if any obstruction is present/introduced in its path then the robot avoids its

collision with the obstruction (usually by stopping before the obstruction or by

changing path). It consists of several electronic components which makes it follow

(usually with tires) a programmed path and avoid collision. The main component of

such robot is a microcontroller which is the brain of the robot.

A Line Following Obstacle Avoiding Robot is a Robot (usually a vehicle) which have

both the characteristics of Line Following Robot and Obstacle Avoiding Robot i.e., it

follows a programmed path (usually a black line) and avoids any obstacle on the

way.


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Working:

These robots are pretty cheap and easy to design. Some sensors are used to detect

the colored line on the path and any obstruction on the path. The robot then

responds to the sensors reading which is defined by programmer in the

microcontroller program.

This robot can follow a thick line (at least of 1 inch) perfectly (even the most complex

paths consisting of obtuse/acute angle turns and intersection of those black lines.

The robot starts when the battery is connected but the speed of robot is slow.

Therefore, another battery is then connected to provide more power to motors and

hence the robot moves comparatively faster.

When the two Infrared sensors connected at both sides of robot senses white path

then the two motors rotate clockwise and the robot moves forward. Similarly, when

the Infrared sensors senses black path then also the two motors rotate clockwise and

the robot moves forward. Hence, when the robot senses intersection of black lines

then it moves straight.


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When one of the Infrared sensors (say right side) senses a black path while the other

one (say left one) senses a white path, then the path is turning towards right, hence

the robot moves right. To make the robot move right, the right motor stays stationary

and left motor rotates clockwise, hence robot takes right turn.

When one of the Infrared sensors (say left side) senses a black path while the other

one (say right one) senses a white path, then the path is turning towards left, hence

the robot moves left. To make the robot move left, the left motor stays stationary and

right motor rotates clockwise, hence robot takes right turn.

To take a sharp right turn, make the left motor rotate clockwise while making the

right motor rotate anticlockwise.

To take a sharp left turn, make the right motor rotate clockwise while making the left

motor rotate anticlockwise.

When the ultrasonic sensor in front of the robot senses any obstruction (in range of

20 cm) while moving forward then the motors stops rotating and the robot stops. The

robot starts moving as soon as the obstruction is removed.


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Requirements:

Components Quantity Price (in Rupees)

Arduino Uno 1 400

Motor Driver Module 1 75

Geared Motor 300 RPM 2 65X2=130

Castor Wheel 1 40

Jumper Wire Male-Female 20 2X20=40

Jumper Wire Male-Male 20 2X20=40

Infrared Sensor Module 2 35X2=70

Ultrasonic Sensor 1 75

9 Volt Battery 2 50X2=100

9 Volt Battery Holder 2 10X2=20

Tires (attached to motors) 2 20X2=40

Chassis 1 50

Double Sided Tape 2 10X2=20

Scissors 1 0

14 Requirements Total Price : 1,060 Rupees


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Labelled Photo:


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Some Important Electronic Components:

Arduino:

Arduino is an open-source prototyping platform based on easy-to-use hardware and

software. Arduino Boards are able to read inputs - light on a sensor, a finger on a button, or a

Twitter message - and turn it into an output - activating a motor, turning on an LED, publishing

something online. You can tell your board what to do by sending a set of instructions to the

microcontroller on the board. To do so you use the Arduino Programming Language (based on

Wiring), and the Arduino Software (IDE), based on Processing.

Over the years Arduino has been the brain of thousands of projects, from everyday objects to

complex scientific instruments. A worldwide community of makers - students, hobbyists, artists,

programmers, and professionals - has gathered around this open-source platform, their

contributions have added up to an incredible amount of accessible knowledge that can be of

great help to novices and experts alike.

Arduino was born at the Ivrea Interaction Design Institute as an easy tool for fast prototyping,

aimed at students without a background in electronics and programming. As soon as it reached a

wider community, the Arduino board started changing to adapt to new needs and challenges,

differentiating its offer from simple 8-bit boards to products for IoT applications, wearable, 3D

printing, and embedded environments. All Arduino boards are completely open-source,

empowering users to build them independently and eventually adapt them to their particular


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needs. The software, too, is open-source, and it is growing through the contributions of users

worldwide.

Thanks to its simple and accessible user experience, Arduino has been used in thousands of

different projects and applications. The Arduino software is easy-to-use for beginners, yet

flexible enough for advanced users. It runs on Mac, Windows, and Linux. Teachers and students

use it to build low cost scientific instruments, to prove chemistry and physics principles, or to get

started with programming and robotics. Designers and architects build interactive prototypes,

musicians and artists use it for installations and to experiment with new musical instruments.

Makers, of course, use it to build many of the projects exhibited at the Maker Faire, for example.

Arduino is a key tool to learn new things. Anyone - children, hobbyists, artists, programmers - can

start tinkering just following the step by step instructions of a kit, or sharing ideas online with

other members of the Arduino community. There are many other microcontrollers and

microcontroller platforms available for physical computing. Parallax Basic Stamp, Netmedia's BX-

24, Phidgets, MIT's Handyboard, and many others offer similar functionality. All of these tools

take the messy details of microcontroller programming and wrap it up in an easy-to-use

package. Arduino also simplifies the process of working with microcontrollers, but it offers some

advantage for teachers, students, and interested amateurs over other systems:

Inexpensive - Arduino boards are relatively inexpensive compared to other microcontroller

platforms. The least expensive version of the Arduino module can be assembled by hand,

and even the pre-assembled Arduino modules cost less than $50

Cross-platform - The Arduino Software (IDE) runs on Windows, Macintosh OSX, and Linux

operating systems. Most microcontroller systems are limited to Windows.

Simple, clear programming environment - The Arduino Software (IDE) is easy-to-use for

beginners, yet flexible enough for advanced users to take advantage of as well. For

teachers, it's conveniently based on the Processing programming environment, so students

learning to program in that environment will be familiar with how the Arduino IDE works.

Open source and extensible software - The Arduino software is published as open source

tools, available for extension by experienced programmers. The language can be

expanded through C++ libraries, and people wanting to understand the technical details

can make the leap from Arduino to the AVR C programming language on which it's based.

Similarly, you can add AVR-C code directly into your Arduino programs if you want to.

Open source and extensible hardware - The plans of the Arduino boards are published

under a Creative Commons license, so experienced circuit designers can make their own

version of the module, extending it and improving it. Even relatively inexperienced users

can build the breadboard version of the module in order to understand how it works and

save money.

Infrared Sensor:

An IR sensor is a device which detects IR radiation falling on it. There are numerous

types of IR sensors that are built and can be built depending on the application.

Proximity sensors (Used in Touch Screen phones and Edge Avoiding Robots), contrast

sensors (Used in Line Following Robots) and obstruction counters/sensors (Used for

counting goods and in Burglar Alarms) are some examples, which use IR sensors.

An IR sensor is basically a device which consists of a pair of an IR LED and a photodiode

which are collectively called a photo-coupler or an opto-coupler. The IR emitter LED

emits IR radiation and IR detector receives it after the radiation is reflected from a

surface. The radiation will not reflect from dark surface as dark surface absorbs the

radiation. And this concept is used in line following robot to track dark lines on white

surface.

Ultrasonic Sensor:

Ultrasonic transducers are transducers that convert ultrasound waves to electrical

signals or vice versa. Those that both transmit and receive may also be

called ultrasound transceivers; many ultrasound sensors besides

being sensors are indeed transceivers because they can both sense and transmit.

Active ultrasonic sensors generate high-frequency sound waves and evaluate the

echo which is received back by the sensor, measuring the time interval between

sending the signal and receiving the echo to determine the distance to an object.

Passive ultrasonic sensors are basically microphones that detect ultrasonic noise

that is present under certain conditions, convert it to an electrical signal, and

report it to a computer.

The sonic waves emitted by the transducer are reflected by an object and received

back in the transducer. After having emitted the sound waves, the ultrasonic

sensor will switch to receive mode. The time elapsed between emitting and

receiving is proportional to the distance of the object from the sensor.

This concept is used in obstacle avoiding robot, when ultrasonic sensor detects

any obstruction in the preprogrammed range then the robot stops moving.

Motor Driver Module:

L293D is a typical Motor driver or Motor Driver IC (used to build the module) which

allows DC motor to drive on either direction. L293D is a 16-pin IC which can control a set

of two DC motors simultaneously in any direction. It means that you can control two DC

motor with a single L293D IC. The L293D works on the concept of typical H-bridge, a

circuit which allows the high voltage to be flown in either direction. In a single L293D IC

there are two H-bridge circuits which can rotate two DC motors independently.

The motor driver module can be used to control the two motors at once. It can even

control the direction of motors (clockwise and anticlockwise) to move robot back and

forth and even turn. It is also useful in providing external power to the motors directly in

case the power from microcontroller is insufficient to run motor or to increase its speed.


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Code:

#include <NewPing.h>

int x,y,t1=0,t2=0;

unsigned int D;

NewPing sonar(12,11,10);

void setup() {

pinMode(2,INPUT);

pinMode(3,INPUT);

pinMode(5,OUTPUT);

pinMode(10,OUTPUT);

pinMode(6,OUTPUT);

pinMode(9,OUTPUT); }

void loop() {

x=digitalRead(2);

y=digitalRead(3);

if((x==1)&&(y==1)) {

D=sonar.ping_cm();

digitalWrite(5,HIGH);


digitalWrite(6,LOW);


t1=0;

t2=0;

if(D!=0) {





delay(1000); } }

else if((x==1)&&(y==0)) {

if(t1>=20) {





delay(500);





delay(1000); }

- Header Library for ultrasonic sensor

- Declaring variables

- Initializing ultrasonic sensor, Syntax is

NewPing sonar(TriggPin, EchoPin, Maxdistance);

- Initializing input pin of Infrared sensor 1

- Initializing input pin of Infrared sensor 2

- Initializing output pin 1 of motor driver




- Read value of Infrared sensor 1

- Read value of Infrared sensor 2

- If no IR sensor reads black line at any side

then move forward

- Check reading of ultrasonic sensor in cm

- If ultrasonic sensor reads an obstruction in the

vicinity of max distance then stop robot

- Delay of 1 second

- If left IR sensor reads black line then turn robot

to right

- If the robot is stuck while moving right then

move robot back for 0.5 seconds and move

robot right for 1 second


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else {





delay(500);

t1+=1; } }

else if((x==0)&&(y==1)) {

if(t2>=20) {





delay(500);





delay(1000); }

else {





delay(500);

t2+=1; } }

else if((x==0)&&(y==0)) {





t1=0;

t2=0; } }

- If left IR sensor reads black line then move the

robot left

- If the robot is stuck while moving left then move

robot back for 0.5 seconds and move robot left

for 1 second.

- If the two IR sensor reads black line at both

sides then the robot moves forward.


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References

1) https://www.arduino.cc

2) www.instructables.com

3) https://www.coursera.org