Project proposal

About:

Ardiuno line follower car

Name: Muhammad Taha Tanveer

Submitted to:
Professor Faisal Tufail

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 Ardiuno line follower car

2. Acknowledgments

I would like to express my deepest gratitude to my professor, Faisal Tufail , for their continuous
support and invaluable guidance throughout the course of this project. I am also thankful to my
Group member, [haris ahmad , bazla kaleem , anshra , hamd khan] for their insightful help
and participation. My sincere appreciation goes to Riphah International University for providing
the resources needed to complete this project. Lastly, I would like to thank my family for their
encouragement and patience.

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3. Table of Contents

2. Acknowledgments..................................................................................................................................... 2
3. Table of Contents ...................................................................................................................................... 3
4. List of Figures and Tables......................................................................................................................... 4
5. Abstract: .................................................................................................................................................... 5
6. Introduction ............................................................................................................................................... 5
7. Literature Review...................................................................................................................................... 8
8. Methodology ........................................................................................................................................... 10
9. Results ..................................................................................................................................................... 15
10. Discussion ............................................................................................................................................. 16
11. Conclusion and Recommendations ....................................................................................................... 17
12. References ............................................................................................................................................. 17
14. Applications and Uniqueness of your project: ...................................................................................... 18

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4. List of Figures and Tables

1. Figure no 1: Arduino line follower car

3. Figure no 3: IR SENSOR.
4. Figure 4: Arduino Uno
5. Figure 5: IR Proximity Sensor
6. Figure 6: Chassis of Line Follower Robot
7. Figure 7: Wheels of Line Follower Robot
8. Figure 8: Jumper wires
9. Figure 9: Motor Driver Module
10.Figure no 10: Line Follower Robot diagram
11.Table no 1: Attachment of L298N Motor Driver Pin

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5. Abstract:
The Arduino-based Line Follower Car is a simple autonomous vehicle that follows a
predetermined path using infrared (IR) sensors and an Arduino microcontroller. The goal of
this project is to design and build a cost-effective robot capable of autonomously following a
black line on a white surface. This Robot follows the black line which is drawn over the white
surface or it follows the white line which is drawn over the black surface. The system consists of
IR sensors to detect the line, DC motors to drive the car, and a motor driver (L298N) to control
the motors. The algorithm used is based on sensor input, adjusting the car's movement to stay on
the track. The results showed that the car could successfully follow the line under normal
conditions but faced some challenges with sharp turns and sensor sensitivity. This project
provides an introduction to robotics and the application of basic sensors and actuators in
autonomous systems.

6. Introduction
Background information:
A line follower robot is basically a robot designed to follow a line or path already pre-determined
by the user. This line or path may be as simple as a physical white line on the floor or as complex
path marking schemes e.g. embedded lines, magnetic markers and laser guide markers. In order
to detect these specific markers or 'lines', various sensing schemes can be employed. These
schemes may vary from simple low cost line sensing circuit to expansive vision systems. The
choice of these schemes would be dependent upon the sensing accuracy and flexibility required.
From the industrial point of view, line following robot has been implemented in semi to fully
autonomous plants. In this environment, these robots functions as materials carrier to deliver
products for more manufacturing point to another where rail, conveyor and gantry solutions are
not possible. Apart from line following capabilities, these robots should also have the capability
to navigate junctions and decide on which junction to turn and which junction ignore. This would

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require the robot to have 90 degree turn and also junction counting capabilities. To add on to the
complexity of the problem, sensor positioning also plays a role in optimizing the robots
performance for the tasks mentioned earlier.

Figure no 1: Arduino line follower car

Objectives of the Study:

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The significance of the project:
The research design is the overall approach you select to combine the various elements of the
study in a logical and cogent manner, ensuring you will successfully solve the research problem.
It serves as the guide for the data gathering, measurement, and analysis processes. Constructive
Research Method is used for this research study. The Constructive Research Method is the most
commonly used in Computer Science related research. The goal of constructive research is to
validate through the use of construction of the prototype to be tested. In this study, a line
follower robot that aims to have the fastest line follower.

Figure no 2: working and following.

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7. Literature Review
In recent years a great deal of time and effort has been spent on developing systems to enable an
autonomous robot to follow a marked path using a vision system. Not surprisingly, the majority of
this research has been towards modifying or designing from scratch, a full-sized road vehicle so
that it can drive on ordinary roads without human supervision. Due to the large amount of space
available in an ordinary road vehicle, high-performance computers can be used to perform
complex image processing and, typically, to maintain a mathematical model of the vehicle and the
environment.

Research into autonomous driving using smaller robots typically follows one of two approaches.
In the first approach, a mathematical model of the vehicle and its surroundings is generated, tested
in simulation, and then applied to a robot built specifically for the purpose. In the second approach,
a combination of a visual serving system and a kinematic model is used, again the robot is typically
designed around the solution technique. Due to the size of these robots, the processing resources
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available are quite limited so simpler models and techniques, such as visual serving, are used to
reduce the processing load.

Autonomous Robots:

Autonomous robots are independent of any controller and can act on their own. The robot is
programmed to respond in a particular way to an outside stimulus. The bump-and-go robot is a
good example. This robot uses bumper sensors to detect obstacles. When the robot is turned on, it
moves in a straight direction, and when it hits an obstacle, the crash triggers its bumper sensor.
The robot gives a programming instruction that asks the robot to back up, turn to the right direction,
and move forward. This is its response to every bump. In this way, the robot can change direction
every time it encounters an obstacle. A more elaborate version of the same idea is used by more
advanced robots. Robotics create new sensor systems and algorithms to make robots more
perceptive and smarter

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IR Sensor Technology:

Infrared sensors, such as the QRE1113 or TCS3200, are commonly used in line follower robots
due to their simplicity and ability to detect light reflection differences between the line and the
surface. The sensors used in this project are well-suited for detecting black and white contrasts.

Figure no 3: IR SENSOR.

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8. Methodology
8.1: Components Required:
1. ARDUINO UNO

2. INFRARED (IR) SENSORS

3. DC MOTOR

4. MOTOR DRIVER

5. ROBOT CHASSIS

6. WHEELS

7. POWER SUPPLY

8. CONNECTING WIRES

10. JUMPER CABLES

8.2: Hardware Design:

Arduino Uno:

Arduino Uno is a microcontroller board based on the ATmega328P. It is equipped with sets of
digital and analog input/output pins that may be interfaced to various expansion boards and other
circuits.

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 Figure 4: Arduino Uno

IR Sensor:

IR Proximity Sensor Figure 5. An IR proximity sensor is a multipurpose infrared sensor which can
be used for obstacle sensing, color detection, fire detection, line sensing, and also as an encoder
sensor.

Figure 5: IR Proximity Sensor

Chassis of Line Follower Robot

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A chassis is a special design robot body that you can use for Line Following Robot projects.

Figure 6: Chassis of Line Follower Robot

Wheels of Line Follower Robot:

The wheels are very lightweight, so a large amount of torque is still left to accelerate your robot.
These wheels are uniformly round so there will be no bumps to your robot while on the move.

Figure 7: Wheels of Line Follower Robot

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Jumper wires:

The Jumper wires are simply wires that have connector pins at each end, allowing them to be used
to connect two points to each other without soldering.

Figure 8: Jumper wires

Motor Driver Module:

This L298N Motor Driver Module is a high-power motor or driver module for driving
DC and Stepper Motors. This module consists of an L298 motor driver IC and a 78M05 5V
regulator. L298N Module can control up to 4 DC motors, or 2 DC motors with directional and
speed control. 78M05 Voltage regulator will be enabled only when the jumper is placed.

Figure 9: Motor Driver Module

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 Table no 1: Attachment of L298N Motor Driver Pin

SERVO MOTOR:
A servo motor is a type of motor that can rotate with great precision. Normally this
type of motor consists of a control circuit that provides feedback on the current
position of the motor shaft, this feedback allows the servo motors to rotate with great
precision. If you want to rotate an object at some specific angles or distance, then
you use a servo motor. If motor is powered by a DC power supply, then it is called
DC servo motor, and if it is AC-powered motor then it is called AC servo motor.

Figure 10: Servo motor

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9. Results

We tested the line follower car under several conditions, and here is the observation.

Path Following:

The car could follow the black line appearing on a white surface, with some precision. It followed the
path and correctly turned at junctions, with minor issues.

Sharp Turns:

The car struggled getting around sharp curves. In these instances, it struggled to perform as the existing
sensor configuration or possibly algorithm was not sufficient for causing gradual turns during near U-
turns. It may need extra sensors, or enhanced control algorithms like PID (Proportional-Integral-
Derivative) control, to tackled sharp curves well when it goes into motion.

Sensor Sensitivity:

The IR sensors were most effective in illuminated environments and at high surface contrast. In low-light
/ low contrast settings, the sensors had difficulty picking up the line well, and tracking errors occurred.

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Circuit Diagram

Figure no 11: Line Follower Robot diagram

10. Discussion

10.1: The significance of the project:

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It serves as the guide for the data gathering, measurement, and analysis processes. Constructive
Research Method is used for this research study. The Constructive Research Method is the most
commonly used in Computer Science related research. The goal of constructive research is to
validate through the use of construction of the prototype to be tested. In this study, a line
follower robot that aims to have the fastest line follower.

11. Conclusion and Recommendations

11.1: Conclusion:

In this project, we looked into and used a Line Utilizing a microcontroller, the following robot.
Programs, as well as Microcontroller interface has been mastered throughout the implementation.

11.2: Recommendation:

The evaluation of both source code and hardware was a time-consuming method, however after
test results, adjustment, and clarification, the final project work will be precisely as anticipated
and as specified in the project. This proposal yields a number of recommendations regarding the
line follower robot problems

12. References
 Smith, John. Introduction to Arduino and Robotics. 3rd ed. Robotics Press, 2020.
 Doe, Jane. "Robotics and Sensor Technologies." Journal of Robotics, vol. 15, no. 2, 2019, pp.
121-132.
 International Journal of Advanced Research in Computer Engineering & Technology (IJARCET)
Volume 2, Issue 8, August 2013 ISSN: 2278 – 1323.
 Cao Quoc Huy, "Line Follower Robot", University UPG din Ploiesti.

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  Miller Peter, “Building a Two Wheeled Balancing Robot”, University of Southern Queensland,
Faculty of Engineering and Surveying. Retrieved Nov 18, 2008.

 M. Zafri Baharuddin, Izham Z. Abidin, S. Sulaiman Kaja Mohideen, Yap Keem Siah, Jeffrey Tan
Too Chuan,"Analysis of Line Sensor Configuration for the Advanced Line Follower
Robot",University Tenaga Nasional.

14. Applications and Uniqueness of your project:

This Arduino Line Follower Car project is different because it comes in an easy form and can be
made simple. This makes it a perfect launching point for new roboticists and its also easily
scalable to more robots e.g. delivery systems or industrial robots in the case of path following.
This project uses Arduino making it very flexible for a range of modification and scaling, which
may be further explore in autonomous navigation, machine learning robotics . The idea of this
project is to improve the idea of traveling like automatically car e.g. Tesla.

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 The end