Line Follower Robot using Arduino and IR Sensors

Robot 1
LINE FOLLOWER
Month day, Year
Words
Student’s Name
Institution

Robot 2
Abstract
The robot’s design can be split into three sections; control section, sensor section and driver
section. The arduino being used is the Arduino pro mini that has the accessible and simple user
experience. It has been used in numerous project applications. An added advantage is the easy-
to-use arduino software that is quite flexible for advance and beginner applications. Other
components used and connected as in the circuit diagram allowed the robot follow the line with
detection from the IR modules. Caution had to be taken in making a program that made use of
the logic truth table for proper operation and robot movement.
Keywords: Arduino, logic, comparator

Robot 3
Introduction
The designed robot is made to follow a line. The line could be white or black in Colour. These
types of robots are mainly categorized into two, robots that follow the black line and the other
type is robots that follow a white line. The major decision made by the robot is sensing the line
to follow and running over it1.
Concept
The concept that makes the basis of this robot is in relation to light, how light would behave
when in contact with a white or black surface. Light falling on white surfaces are reflected, light
falling on black surfaces are is reflected. The behavior, therefore, is fundamental to building
robots that follow lines.
2
The robot to be designed in this project is Arduino based, making use of IR receivers and
transmitters. These devices receive and send light respectively. The transmitter sends infrared
11Avirup Basu, Intel Edison Projects (Packt Publishing Ltd 2017).
2 Harold Timmis, Practical Arduino Engineering (Apress 2011).

Robot 4
light which would fall on the surface, either on a white or black surface. If the rays fall on a
white surface greater percentage of it would be reflected back and received by the receiver that
would generate changes in voltage. When the rays fall on black surfaces, the greater percentage
would be absorbed with the very little amount being received by the receiver thereby no
significant voltage changes would be generated.
This robot is Arduino based in that the sensing of a white surface leading so voltage changes
produce an input to the Arduino but black surfaces would not produce such an input3.
Components Required
1. Arduino
The arduino chosen was arduino pro mini whose advantage is the easy-to-use Arduino
software that is quite flexible for advance and beginner applications. The software has the
capability of running in Windows, Mac and Linux, key in robot programming. Other
microcontrollers that may have been used include Phidgets, Parallax Basic Stamp,
Handyboard and BX24. Most architects and designers have built interactive prototypes that
are applied in music and art in the installation and experimentation f new instruments of
music. Such features have made it possible for hobbyists, children, programmers and artists
come up with inventions simply from following instructions available online. These other
microcontrollers also exhibit the same advantages as the used Arduino microcontroller. The
reasons for picking Arduino pro mini microcontroller include4
3 John-David Warren, Josh Adams and Harald Molle, Arduino Robotics (illustrated edn, Apress
2011).
4 Harold Timmis, Practical Arduino Engineering (illustrated edn, Apress 2011).

Robot 5
 Cross-platform
The software is able to run on Mac, Linux and Windows operating systems.
 Inexpensive
Its board is less expensive if compared to the other named microcontrollers.
 Clear, simple programming language
The IDE of Arduino software can be used by beginners for simple application as well
as advance purposes. Similarly, the software can be used in teaching conveniently in
the programming environment thereby making familiarization easier.
 Extensible Hardware.
Other than experienced individuals in making Arduino circuits using it, the Arduino
connection is that simple to allow relatively experienced individuals build properly
functioning.
Combining the open source hardware, clear simple programming and Arduino's cross-
platform makes the Arduino selection a better choice in microcontrollers. Specifically
selected Arduino is the Arduino pro mini that is smaller making it light and breadboard
compatible. Burning the program requires FTDI burner.
5
5 Harold Timmis, Practical Arduino Engineering (illustrated edn, Apress 2011).

Robot 6
2. Motor Driver
Using the motor driver, L293D makes use of its 16 pins whereby, the pins are split into eight
pins on every side both sides being dedicated to motor control. L293D has two H-Bridge that
has the simplest controlling circuit utilizing low current rating.
These are the functions of all the pins of the motor driver;
 Pin 1
Enables working of left side only when it is HIGH and turns off this side when
otherwise.
 Pin 2
It is INPUT 1 that allows a flow of current through output I when it is HIGH.
 Pin 3
It is the OUTPUT 1 that is connected to a motor’s terminal.
 Pins 4 and 5
These are ground pins.
 Pin 6
It is OUTPUT 2 that is connected to a motor’s terminal.
 Pin 7
It is The INPUT 2 that allows current flow through it when it is HIGH.
 Pin 8
It is the VCC2 providing 5 V power source for use in the IC.
 Pin 9
Allows functioning of the IC’s right side only when it is HIGH but turns the side off
when LOW.