THE LINE FOLLOWER ROBOT THE STATEMENT: The aim of the line-follower robot is to follow a predefined line.

line. In general, the strip or the line is black and the back-ground is white. There may be several 90 degree curving cutting in the line. Sometimes, the path may be inclined or curvy, depending on the competition. The main criteria of judgment for a line-follower robot are: 1) THE BOT MUST NEVER DEVIATE FROM THE BLACK LINE OR STRIP 2) THE SPEED OF MOVEMENT OF THE BOT

The following tutorial explains the principle of operation of a line-follower robot using an Analog Circuit. DESIGN AND CONSTRUCTION: A basic line follower consists of two motors. For taking a turn, we stop one motor and run the other motor. The bot also consists of sensors and LEDs to sense black and white color. The sensor and the LED should be covered properly so as to produce sharp sensing. The bot is positioned in such a way that the front end of it faces the track.. This means, light is applied to the bot from the front end.

 The following are the components used: 1) LDR (light detecting resistor) 2) Comparator 3) A Transistor/L293D OVERVIEW OF THE ROBOT:

. The LDR circuit senses the light. The LDR circuit consists of a series resistor and an LDR, the output is taken across the LDR. The output of LDR is applied across the difference amplifier. The difference amplifier is a sub tractor with some amplification/gain. The output of the amplifier is applied to the motor driving circuit.

 The following two transistors are used: (1) PNP transistor with its motor in its collector (2) NPN transistor with motor in its collector Complementary transistors are to be used because the output of the amplifier has to be either positive or negative depending on the color detected. If the output of the difference amplifier is positive, the NPN transistor will become activeand the motor connected to the collector of that transistor will be switched ON. However, the PNP transistor will be in cut-off region and the motor connected to its collector will be switched OFF. If the output of the difference amplifier is negative, then the PNP transistor will be saturated and the motor connected to its collector will run, while the motor of NPN transistor(in cut-off region) will not run. This is a closed circuit. However, the circuit is not stable as there is no condition existing to stop the motor. At any time, the output of the difference amplifier is either positive or negative. Both the motors will stop when the voltage is in the range +0.5V to -0.5V. In this range both the transistors will be cut-off. However, when the motor is about to stop, due to inertia, it moves some distance. This causes a small difference in the LDR reading; this will get amplified and the motor will start rotating again. This leads to instability in operation. Any of the following three combinations could be use to sense black and white strips: 1) LED+LDR 2) IR LED+photo-diode 3) 38KHZ modulated IR+TSOP1738(micro-controller) IMAGE OF LED+LDR COMBINATION:

ANALYSIS OF LED+LDR COMBINATION: The basic principle of working is the switching action of power transistor. When the LDR is in a white region, there is a reflection of many frequencies from ground.and the resistance offered by the LDR is very less. As soon as Ve>0.8V, the transistor inside LDR reaches saturation. Thus, the circuit is closed and the motor starts. When the LDR is in dark arena, the resistance offered by the LDR is very high and Ve < 0.5. This brings the transistor to cut-off region and the motor stops. The 10K-POT is adjusted in such a way that the transistor will be in saturation while positioned in a white arena & in cut-off region when placed in a black arena. This circuit is made for both the motors of the bot.
DISADVANTAGES:

Normal stopping occurs with these motors. However, there is a requirement of breaking so as to stop abruptly. The motor speed should be limited, because if the speed is higher, the robot will cross line due to inertia. Maximum speed of the robot obtained by the robot using this circuit will be very less. The maximum speed is up to 20cm/s only.

LIST OF MATERIALS TO BE USED: The following tables list the parts to be used in the line following robot.

THE BREAD-BOARD DESIGN:

The Details Of The Program:

The program for the line following robot can be described as follows. The robot has to track a black line. There are two Infrared sensors which are above the while surface. Both of them send a high signal (1) to the microcontroller. In this condition the microcontroller directs both the motors to run in one direction at the same speed. The robot moves in a straight line in this condition.If the left infrared sensor comes above the black line, it senses it and sends a low signal (0) to the microcontroller. The microcontroller directs the left motor to stop and the right motor to continue its motion tillit senses the black line. As a result the robot turns towards left and both the sensors are on white surface again. If the right infrared sensor comes above the black line, it senses it and sends a low signal (0) to the microcontroller at the corresponding pin. The microcontroller directs the right motor to stop and the left motor to continue its motion till it senses the black line. As a result the robot turns towards right and both the sensors are on white surface again. In this way the robots moves in a slight swaggering manner tracking the black line. The following program drives the motor in the above manner. #include<AT89x51.h>

void main() { while(1) { if(P2_0==1&&P2_1==1) { P1_0=1; P1_1=1; } if(P2_0==0&&P2_1==1) { P1_0=0; P1_1=1; } if(P2_0==1&&P2_1==0) { P1_0=1; P1_1=0; } if(P2_0==0&&P2_1==0) { P1_0=0; P1_1=0; } } } MAKING THE MECHANICAL STRUCTURE: (1) Base plate

(2) CASTOR WHEEL:

(3) WHEEL ASSEMBLY:

(4) PLATES:

(5) BATTERY PACK:

(6) INFRARED SENSORS:

(7) THE COMPLETE ROBOT: