PROJECT REPORT : LINE FOLLOWER ROBOT

A report submitted in partial fulfilment of the

requirement for the award of degree of
BACHELORS OF ENGINEERING
in
COMPUTER SCIENCE ENGINEERING

By

Shouray : 24BAI70274
Vansh Kumar : 24BAI70457
Devansh Chauhan : 24BAI70279
Vansh Singh : 24BAI70151
Happy Chandel : 24BAI70340
 under the guidance of
Dr. Harjeevan Singh
Assistant Professor

Computer Science Engineering

UIE, Chandigarh University

 Acknowledgment

We appreciate that we have such an opportunity to express our great

gratitude and respect to the people who helped us during the completion
of our B.E. project. Without their support and encouragement, it was not
possible for us to complete the project successfully.

It is difficult to overstate my greatest gratitude to my project mentor Dr.

Harjeevan Singh. Firstly, we would like to thank him for guiding and
inspiring us patiently throughout our study period. Secondly, we highly
appreciate his encouragement and support in our project work, which
helped us build confidence and courage to overcome difficulties. Finally, we
are grateful for his great insights and suggestions and for devoting so much
time to the completion of the project.

Many thanks go to our other class teachers who have given their full effort
in guiding the team in achieving our goal as well as their encouragement for
completing the project timely. Our profound thanks go to all our
classmates, especially to our friends for spending their time in helping and
giving support whenever we needed it in our project.

At last, we would like to thank our family members and god for supporting
and motivating us for completing this project.
 Table of Contents

Acknowlegment i
Abstract ii
List of Tables………………………………………………………………………………
Introduction 1
Components Required 2
Working Principle 3
Circuit Diagram 4
Application 5
Future Enhancements 6
Result 7
Conclusion 8
References 9
Abstract
A line follower robot is an autonomous robotic system designed to detect and
follow a predefined path, typically marked by a contrasting line on the floor.
Utilizing infrared (IR) sensors, the robot continuously monitors the path and
adjusts its movement through real-time feedback, enabling it to navigate
complex routes without human intervention 167. The core of the system is an
Arduino microcontroller, which processes sensor data and controls the motors
via a motor driver, ensuring precise and responsive navigation.
This project demonstrates essential principles of robotics, including sensor
integration, closed-loop control, and autonomous decision-making. The robot’s
modular design allows for straightforward assembly and troubleshooting,
making it an ideal platform for educational purposes and prototyping in
industrial automation. Through careful calibration and algorithmic control, the
robot can handle sharp turns, junctions, and varying lighting conditions,
maintaining reliable performance across different environments 234.
Beyond its technical implementation, the line follower robot serves as a practical
example of how simple electronic components and control logic can be
combined to solve real-world automation challenges. Its applications extend to
automated guided vehicles (AGVs) in manufacturing, warehouse logistics,
educational demonstrations, and domestic robotics such as robotic vacuum
cleaners 157 . The project also lays the groundwork for future enhancements,
including obstacle detection, wireless communication, and advanced navigation
algorithms, highlighting the scalability and adaptability of the platform for more
sophisticated autonomous systems.

Introduction
The development of autonomous robots has become an essential aspect of
modern technology. Line follower robots are among the simplest yet most
practical examples of autonomous systems. These robots are widely used in
industrial applications, educational settings, and domestic environments due to
their ability to navigate predefined paths without human intervention.

The primary objective of this project is to design and build a functional line
follower robot capable of following a black line on a white surface (or vice
versa). The robot employs IR sensors for line detection and an Arduino
microcontroller for processing sensor inputs and controlling motor outputs. This
report details the components used, working principles, assembly process,
challenges faced, and future enhancements.

Components Required
The line follower robot consists of several key components:

1. Arduino Uno Board: Serves as the microcontroller for processing

sensor data and controlling motors.
2. IR Sensors (2 units): Detect the contrast between the black line and the
white surface.
3. Motor Driver (L298N): Controls the direction and speed of DC motors.
4. DC Motors (2 units): Provide locomotion to the robot.
5. Wheels (2 units): Attached to motors for movement.
6. Castor Wheel: Provides balance to the chassis.
7. Robot Chassis: Holds all components together.
8. Battery Pack: Powers the system.
9. Jumper Wires: Connect various components.
10. Breadboard: Used for prototyping connections.

Working Principle
The working principle of a line follower robot revolves around detecting a
predefined path (usually a black line on a white surface) using infrared (IR)
sensors and controlling the motors to navigate accordingly. The robot operates
autonomously by continuously monitoring sensor inputs and adjusting its
movement based on the detected line.

Line Detection:
 IR sensors emit infrared light and measure reflected light intensity.
 A black line absorbs more infrared light than a white surface, creating a
detectable contrast.

Navigation Logic:

 When both sensors detect white, the robot moves forward.

 If one sensor detects black while the other detects white, the robot turns
in the corresponding direction.
 If both sensors detect black, specific logic (e.g., stop or continue straight)
is implemented.

The Arduino processes sensor inputs and sends signals to the motor driver to
control motor speed and direction.

Circuit Diagram
Below is a simplified explanation of circuit connections:

IR Sensors:
  VCC connects to Arduino's 5V pin.
 GND connects to Arduino's GND pin.
 Output pins connect to digital pins D12 and D13 on Arduino.

Motor Driver:

 IN1/IN2 connect to Arduino pins 9/6 for one motor.

 IN3/IN4 connect to Arduino pins 5/3 for another motor.
 Motor power supply connects to driver input terminals.

Motors:

 Left motor connects to OUT1/OUT2 terminals on motor driver.

 Right motor connects to OUT3/OUT4 terminals on motor driver.

Applications
Line follower robots have diverse applications:

Industrial Automation:

 Material transportation in factories.

 Automated guided vehicles (AGVs).
Educational Use:

 Teaching robotics fundamentals.

 Demonstrating sensor integration concepts.
Domestic Applications:
  Robotic vacuum cleaners following predefined paths.
Guidance Systems:

 Museum guide robots navigating paths autonomously.

Future Enhancements
Potential improvements include:

Advanced Sensing:

 Adding color sensors for multi-path navigation.

 Incorporating distance sensors for obstacle avoidance.

Navigation Improvements:

 Implementing PID control for smoother movement.

 Adding junction detection capabilities

Communication Features:

 Integrating Bluetooth/Wi-Fi for remote control or monitoring.

Energy Efficiency:

 Solar charging systems for extended operation.

Result
The line follower robot was successfully assembled and tested on various track
layouts. The IR sensors accurately detected the line, and the Arduino-based
control logic enabled smooth navigation. The modular framework allowed for
quick troubleshooting and component replacement. The robot consistently
followed the path with minimal deviation, demonstrating the effectiveness of the
proposed design.

Conclusion
The line follower robot project successfully demonstrates fundamental
principles of robotics while providing practical applications in automation and
education. By combining IR sensors, Arduino microcontroller, and motor control
systems, this project highlights how simple technologies can be used effectively
in autonomous navigation systems.

This project serves as an excellent starting point for exploring robotics concepts
and paves the way for more advanced developments in autonomous systems.

References
1. Arduino Uno:
• Arduino.cc. "Arduino Uno Rev3." (For microcontroller basics).
 2. L298N Motor Driver:
• STMicroelectronics. "L298N Datasheet." (For motor control specifics).
3. IR Sensors:
• General IR Sensor Documentation. (For line detection theory).
4. Robotics Fundamentals:
• Robotics Textbook. (For general robotics principles).
5. Arduino Programming:
• Arduino Programming Guide. (For microcontroller coding).
6. Youtube.com
7. Google.in