Ahsanullah University of Science and

Technology

Project Name: Line-Maze Solver Robot Using Arduino

Department - EEE
Year- 2nd
Semester-2nd
Student ID-12.01.05.006
12.01.05.007
12.01.05.008
11.02.05.046
11.02.05.047
 LINE-MAZE SOLVER ROBOT USING ARDUINO
Sumaiya Zaman, Afia Sultana, Nipun Butlero, Zarin Tabassum, Sanjucta Biswas
Department of EEE, Ahsanullah University of Science and Technology, Dhaka, Bangladesh.

Equipments:

 2 micro gear motors

 Pair of motor brackets
 Pair of wheels
 Ball caster
 Analog reflectance sensor array
 Motor driver IC
 Battery holder
 Vero board
 Arduino Mega 2560
 Rechargeable batteries
 Hook up wire
 Female and Male headers
 Soldering iron
 Wire strippers
 Bolts and nuts that fit the spacers
 Screw driver
 Something to cut the wire with
 Art papers to make Maze
 Black papers

Block diagram:

Working Principle:
The main work is based on IR. Sensor transmits IR.
It is known that when light falls on white surface it
gets reflected. On the other hand if light falls on
black surface it is totally absorbed. This concept is
completely followed here.
When IR falls on black line, it is absorbed. So that
receiver doesn’t get any IR. Similarly, when IR falls
on white line it is reflected. Thus receiver receives
IR. This particular concept we used to programme a
microcontroller named Arduino Mega 2256.
White line gives an ADC value above 900, while
black line gives an ADC value ideally below 100. In
our project the programme code is written such that
for IR-3 and IR-4 an ADC value below 100. So that
it will make both the motor more forward. So if the
IR-3 & IR-4 find out black line then the body starts
moving.
First we simply attached the motors to the top side can simply solder the power leads straight to the
of the bottom deck. We have to line the "D" shaped back of the Arduino. The robot is now complete.
shaft up with hole in the center of the wheel. We
used Arduino Mega 2560 for coding. In arduino we Project Image :
used 9 pin strip of female headers on the left side of Front view
the board from pins labeled "5v" to "A0". This will
mate with the sensor plug later. Solder a 4 pin strip
of female headers on the right side of the board from
pins. These pins will be used to control the motor
driver. Finally solder a 2 pin strip of female headers
on the front right of the board on the GND and 5V
pins. These will supply power to the motor driver.
we give inputs of the motor driver. The Arduino
digital output 7 gets wired to what I have labeled as
"In 1A". This is the first input of the first motor. The
Arduino digital output 6 gets wired to what I have
labeled as "In 1B". This is the second input of the
first motor. The Arduino digital output 5 gets wired
to what I have labeled as "In 2A". This is the first Side view
input of the second motor. The Arduino digital
output 8 gets wired to what I have labeled as "In
2B". This is the second input of the second motor.
Finally Power and ground get connected to the
Arduino's 5v and GND pins at the front of the board.
The main part of our project is programming. We
completed our coding and input it in Arduino.

The sensor comes as an array of 8 sensors. There are

2 on the end that can be removed and need to be
removed. We used a pair of side cutters to do this. A
9 pin strip of female headers has to be soldered on to
the sensor from "GND" to pin "6" of the sensor.
Then we plugged in a strip of male headers. These
sensors put out an analog voltage based on how
much IR light are being reflected back. We can use Troubleshooting:
these to detect the white and black areas on the
1. The most significant problem with this project
maze. The sensor outputs a low voltage near 0V if was integrating the "line sensing" part with the "car
the sensor detects a white surface. The sensor driving" part. Individually line sensors work fine and
outputs a voltage near VIN if it detects a dark give correct output based on the line. But if we
integrate these two modules, then car sometimes
surface.
skip line sensing. Possible reasons are sensor
introduces noise/spike. To solve this problem we
We have to do is wire the battery pack to the tried different kinds of sensors and emitters. At last
Arduino. This is done by soldering the wires to the the available best effect was achieved by using IR-
power pins at the rear of the Arduino. The battery emitter and photo sensor (receiver).
pack has a built in power switch so that is why we
2. At first we construct the circuit in bread board but Future Works:
we faced some difficulties. Thats why we
constructed it in Vero board.
1. The next stage of development for the robot will
3. Our connection was not perfect at first, so we use consist in adding to it a powerful digital signal processor
jumper wires to avoid loose connection. and a video camera. In this way the area of applications
will include digital image processing.
4. Another major problem was synchronizing two
motors. Two stepper motors have slight difference in
RPM. To solve this problem we used additional 3 2. We can develop the body with heavy materials in
sensors serially. These three sensors were used and future.
program was coded in such a way so that car can
adjust/fine tune to be in track even if there was little 3. We will use high quality sensors and can also extend
difference in RPM.
the size of our maze.
5. Power Source was a problem as we needed 12V to
drive the motor-driver. If 9V and 3V is used in series
to make 12V, same effect cannot be achieved and
battery discharges quickly. So we had to use 3
batteries including 4 volt each which gives us 12V
battery.

6. We tried to make the car construction first, but it

could not be made properly by us so car structure
was made from the carpentry shop. But as it was too
heavy for motor to drive, we replaced it with a body
of lightweight material.

7. After sensing the line, light sensors give a voltage.

This voltage varies between a range when the line is
black. To give binary output, we had to check it
using reference voltage.Even different chips should
give voltage between same ranges; it does not do it
practically. So we had to manually check every
sensor to set a reference voltage and made the
reference voltage using different resistors.

8. There was problem in loading the code. After so

many verifications we could be able to construct the
code.

Applications:

Line- Maze solver is an autonomous robot that

solves a maze with the help of an overhead camera
using image processing principles. Line-Maze
solver robot is an industrial robot. If the robot has to
find out a particular thing, then it will go to find out
that thing in usual way but it returns in shortest
possible way it can. So it can save time.