Line Tracer Robotic Cars: A Solution to Efficient Goods Delivery

This research project proposes the use of line tracer robotic cars to automate transportation of goods, products or equipment in industries, hospitals, and hotels. The study discusses the hardware and software requirements for the design, including microcontrollers, sensors, actuators, and power supply. The proposed system aims to follow a black line on a white surface, take various degrees of turns, stop if the surface is all black, and be insensitive to environmental factors such as noise and lighting.

Research Project 1
RESEARCH PROJECT
By Name
Course
Instructor
Institution
Location
Date

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ABSTRACT
A quick tour to most industries, hospitals and hotels will expose the
vulnerability in goods delivery experienced in the mentioned areas.
Autonomous goods delivery therefore becomes essential to enhance efficient
transportation of goods or equipment to the required destination. The
manual form of transportation involving humans leads to delays, monotony
and even fatigue when heavy goods are to be conveyed. This study proposes
a line following robot that can detect and follow a line drawn on the floor.
The pre-defined path will be a black line on a white surface. The robot follows
the line using Infra-Red Ray sensors installed under the robot at the front
end. The sensors detect the line position and the read data is transmitted to
the microcontroller which then controls the robot to move straight, left or
right by use of a motor driver. The speed of the robot will be controlled
according to the lane condition which means that for a curvy lane, the speed
of the robot is decreased in order to obtain a smooth turn.
Table of Contents
ABSTRACT........................................................................................................2

Research Project 3
TOPIC OF THE PROPOSAL.................................................................................5
INTRODUCTION................................................................................................5
AIM OF THE PROPOSAL....................................................................................6
System Aims.................................................................................................6
System Objectives........................................................................................7
DEFINITION OF KEY CONCEPTS........................................................................7
BACKGROUND INFORMATION..........................................................................8
THESIS STATEMENT.........................................................................................9
Problem Statement.......................................................................................9
Proposed Solution.......................................................................................10
RESEARCH METHODOLOGY...........................................................................10
Hardware requirement for the design.........................................................10
Microcontrollers.......................................................................................11
Body and Chassis....................................................................................12
Sensors....................................................................................................13
Actuators.................................................................................................15
Motor driver.............................................................................................16
Power supply...........................................................................................18
Software requirements...............................................................................19
Arduino UNO software.............................................................................19
Proteus....................................................................................................25

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Literature Review...........................................................................................26
Design.........................................................................................................26
Driver controller......................................................................................27
Working of the line tracer robotic car............................................................28
The Quadratic Line-Detection Algorithm.....................................................31
Final design....................................................................................................32
Research methods and approaches to primary and secondary research......33
Types of communication approaches to present research outcomes............33
Future scope of the line tracer robotic car.....................................................34
Conclusion.....................................................................................................35
Appendix........................................................................................................40
TOPIC OF THE PROPOSAL

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LINE TRACER ROBOTIC CARS
INTRODUCTION
A line tracing robotic car is really a robot made to trace a way
which is predetermined by the user. This line can be a white path or
dark path on the floor or as complex way inspection plans e.g. drawn
path, good markers and laser direct paths. In arrange to classify these
specific paths, different noticing plans should be used. These tactics
may shift from straightforward taken a toll noticing circuit to
comprehensive vision outlines. The choice of this tactic could be
subordinate upon noticing precision and adaptableness needed. From
a mechanical point of view, line tracer automated car has been
implemented to entirely independent plants.
For this research project, these robots abilities as materials
carrier to provide items from one fabricating put to another where rail,
conveyer and scaffold preparations are not conceivable. Separated
from line taking after cap abilities, these robotic line tracer should to
have the capability to discover connections and select on which
connection to turn and which connection to disregard. To include on to
the complexity of the issues sensor positioning moreover plays a part
in optimizing the execution of the robot for errands said prior. A line
Tracer robotic car with choose- and- situation capabilities are
commonly utilized in fabricating plants.

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They move on an indicated way to choose the components m
designated zones and put them on wanted regions. Fundamentally, a
line taking after the robot could be a self-operating robot which
identifies and takes after a line drained on the floor. So, all in all, it can
be said that Line Tracer car may be a machine which takes after a line,
either a dark line or white line. Essentially there are two sorts of line
tracer robots: one is dark line tracer which takes after dark line and
moment is white line tracer which takes after the white line. Line tracer
really faculties the line and run over it.
AIM OF THE PROPOSAL
System Aims
The complete line following robotic system should be able to generate a
signal upon detection of the robot’s deviation from the desired line
position and send the signal to the microcontroller which then controls the
motor driver to bring the robot back to the pre-defined line.
System Objectives
The complete system should be able to;
i. Follow a black line on a white surface.
ii. Take various degrees of turns.

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iii. Stop if the surface is all black.
iv. Be insensitive to environmental factors such as noise and
lighting.
DEFINITION OF KEY CONCEPTS
IR – Infrared
LDR – Light Dependent Resistor
LED – Light Emitting Diode
RF – Radio Frequency
CPU – Central Processing Unit
DC – Direct Current
TTL – Transistor-Transistor Logic
BJT – Bipolar Junction Transistor
MOSFET – Metal-oxide-semi-conductor field-effect transistor
IC – Integrated Circuit

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BACKGROUND INFORMATION
Transportation of goods from one point to another may it be in a
hospital, hotel or even an industry is very vital. The transportation is
carried out every single day by people who at most times are extremely
exhausted especially at the close of the day (Al-Tai, 2015, p. 121). In a
hospital when the patient is supposed to take medication, there might
delay in delivering medicine by the nurse in charge as I experienced two
years ago when I was admitted. For industries, we have heavy and risky
products which need to be carried and they pose a major threat to
workers transporting them may it be by hand or even by pushing a cart.
With the increasing improvement in innovation and research revolving
around robotics, we take advantage of this technology to come up with a
robot which is more efficient and practical (Alipanahi, 2013, p. 1210).
Robotics is a part of engineering and science that deals with the
learning of robots and is intricate with a robot’s building, production,
application and structural disposition. In our day to day interaction with
ants which we strive to emulate we have seen how they usually moves in
a line, tracing an unseen path in look for food or even as they return to
their homes (Bajpai, 2016, p. 764). Human beings also follow defined
paths such as sidewalks on roads to avoid collision either with fellow
humans or even with vehicles which also follow lanes to avoid accidents
(Bany, 2012, p. 751). What about a robot that also follows a line? It would

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just be imitating mother-nature. A robot is basically a control system that
attempts to regulate several positional quantities in order to achieve
physical tasks to emulate the human being. Thus with the help of the line
following robot, it is believed that time and manpower can be saved when
it is largely adopted in various industries (Baker, 2011, p. 982).
THESIS STATEMENT
Problem Statement
Transportation of goods, products or equipment in hotels, hospitals and
industries by people can lead to inefficiency in service delivery as human
beings get tired easily. Unreliability by humans is also a major
shortcoming as sometimes they may get asleep when required to carry
goods from one point to another. Pushing of carts or driving of trucks
which might be repetitive work to the driver might cause a slowdown in
the work as it becomes boring after executing it for a while. Therefore
there is a need to find a solution to the manual transportation which
seems to be inefficient and unreliable (Belmans, 2010, p. 132).
Proposed Solution
This study proposes an automated line following a robotic system to
automate transportation. A line tracker sensor within the robot system
shall monitor the line position of the robot. The system shall keep
comparing the actual line position against the desired line position in

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order for the robot to move straight, turn left or turn right in accordance
with the pre-defined line to be followed.
RESEARCH METHODOLOGY
Hardware requirement for the design
i. Microcontrollers
ii. Arduino UNO module
iii. DC brushed motors
iv. IR sensor
v. Motor Driver
vi. Source of power
The design of the line tracer robotic car involves several parameters and
components, some of the components which will be employed in the
design of this project are:
Microcontrollers
These are compact integrated circuits designed to control a specific
operation in an embedded system (Bhatt, 2012, p. 902). A typical
microcontroller constitutes a memory, inputs/ outputs, processors and
peripherals in one single chip. There are several microcontrollers which
can be employed in the design of a line tracer robotic, some of these
microcontrollers includes; PIC (peripheral Integral Controllers), PID

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(proportion, Integral and derivative controllers ), Arduino UNO, Arduino
YUN, Arduino mega, programmable logic controllers among other types of
controllers. In this specific project, we will employ the use of Arduino UNO
as our microcontroller.
Arduino microcontroller is preferred in this design because it is
relatively easy to program as compared to other types of
microcontrollers. Arduino Uno R3 based on Atmega 328P has been
chosen as it contain fourteen digital output/ input pins, 6 analogue I/Ps, a
16 MHZ quartz crystal, a universal Serial Bus linking, a power jack, an
ICSP header and a reset button. The Arduino can be programmed by
merely through joining it to a computer with a cable of USB. The Arduino
controls all the robot's actions (Bilmate, 2013, p. 1210). Basically, the
microcontroller is the brain of the robotic device, it is in the
microcontroller where all the decision will be made hence the robotic car
will follow the line and negotiate corners based on the decision made here
(Bizuayehu, 2014, p. 677).

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Fig 1: Showing Arduino UNO microcontroller
Body and Chassis
The prototype robot chassis shall be a much smaller robotic car with the
following dimensions;
Length = 22 cm
Width = 18 cm
Height = 16 cm
The chassis is made of plastic. It is strong and shall support all devices.
The devices shall be put on the chassis while sensors and motors shall be
put below the chassis. The chassis and the whole body of the prototype of

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the robotic car should be strong and light to enable it to carry all the
components used in the design.
Sensors
These are electronic devices which are employed to convert non-
electrical parameters to electrical parameters (Brandeis, 2016, p. 2011).
In a layman's language, a sensor is a device which helps in the detection
of a given parameter. In this research project, the sensor will be
employed to check the presence of the predefined line. There are several
sensors which can be employed in the design of the line tracer robotic to
help in the control of the line tracer car. Some of these sensors include
Infrared, ultrasonic sensor among other sensors. In this research project,
we would employ the use of the infrared sensor (IR sensor) (Brown, 2015,
p. 1102). The reason for using this type of sensor includes the following
advantages it possesses;
i. It gives safe communication because of the line of sight as well as
the point-to-point mode of its communication.
ii. The battery employed in infrared sensor always last for a relatively
longer duration because of its lower power consumption.
An example of an infrared sensor is illustrated in the diagram below;

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Fig 2: Showing an IR sensor (Brown, 2015, p. 1102)
In this design, the line drawn where the robotic car will follow is the
object. The distance between the IR sensors array and surfaces should be
less than 5mm and distance between two infrared sensors to be contingent
on line width (Farhadi, 2015, p. 120). The infrared sensor array is put at the
bottommost of the chassis. The infrared sensor reads the paths and sends
the analogue interpretation to the Arduino by the analogue pin on the
Arduino Uno board (A0-A4). On white line, analogue reading is less than 300
and on the black line, analogue interpretation is greater than 600. The
minimum analogue reading is 0 and maximum is 1023 (10-bit binary). That
reading decides between white and black colours by which robot detects the
line (Green, 2011, p. 321). The V out in the IR sensor can be obtained using
the following equation;
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . i

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Actuators
An actuator is basically is a mechanical component which takes energy
— typically energy which is caused by air, electricity or liquid — and change
it into some kind of motion (Hossain, 2013, p. 231). For this research project,
we use a DC motor. This actuator uses the electrical energy as an input and
gives a motion as an output. This is realized through the principle of
magnetism. When magnetic flux is cut by the electrical conductor then
electrical current will be induced and the reverse is also true therefore this
will result in a motion of the motor (Hurm, 2012, p. 455). The diagram below
illustrates DC brushed motor employed in the design of the line tracer car;
Fig 3: Showing a motor used in a line tracer car. (Hurm, 2012, p. 455)

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These are used in the movement of the wheels of the robotic cars, there
are two of them which are basically used and they are connected to the
wheels of the robotic car. We have chosen 4V DC gear motors (Hurt,
2016, p. 2101). The movement system is the key component of the line
tracer robot and both motors are of the same type, speed and have the
same power supply. The wheels are also of the same radius and size as
different size wheel would affect the speed of robot. (Schaub, 2013, p.
231).
Motor driver
A motor driver is a small current amplifier; the operation of
motor drivers which uses a low-current control signal and then turn it
into a higher-current signal that can drive a motor (Jettanasen, 2017,
p. 289). Therefore it is the responsibility of this driver to control the
movement of the motors hence the movement of the wheels of the
robotic car. We have chosen the L293D motor shield as it suits well
with Arduino (Jenkins, 2010, p. 1210). It has four connection points for
four motors, but in our case, we shall use two motors, so among four
points M1 and M2 are used (Krul, 2011, p. 611). The motor shield also
has six analogue pins (A0-A5) and the IR sensors are connected to the
Arduino through these analogue pins (A0-A4). Therefore the physical
block diagram of the line tracer robotic car is shown in the diagram
below;

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Figure 4 Block Diagram of Proposed Line Following Robotic System
Power supply
All the above components cannot operate if there is no source of energy
to help operate and control all the operation of everything in the robotic
device (Lanna, 2014, p. 211). The DC motor of the robotic car is operated
Line Tracking
Sensor
Microcontroller Motor Driver
Left Motor
Right Motor

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by the DC power supply (Jiang, 2013, p. 2101). A power supply for the line
tracer robotic car is shown in the following diagram below;
Fig 5: Showing the power supply used in the line tracer robotic car. (Jiang,
2013, p. 2101)
Software requirements
i. Arduino UNO
ii. Proteus
Arduino UNO software
This software will be employed in programming the Arduino UNO
module which actually will aid in the movement of the line tracer robotic

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car (Krul, 2010, p. 812). For a line tracer robotic car the below are the
code which will be written in Arduino UNO software and then through the
computer, the codes are written to the Arduino UNO module which is
connected to the computer through a special cable (John, 2013, p. 213).
The codes of the line tracer robotic car written in Arduino UNO software is
illustrated as below;
int mot1=9;
int mot2=6;
int mot3=5;
int mot4=3;
int left=13;
int right=12;
int Left=0;
int Right=0;
void LEFT (void);
void RIGHT (void);
void STOP (void);
void setup()
{
pinMode(mot1,OUTPUT);
pinMode(mot2,OUTPUT);
pinMode(mot3,OUTPUT);

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pinMode(mot4,OUTPUT);
pinMode(left,INPUT);
pinMode(right,INPUT);
digitalWrite(left,HIGH);
digitalWrite(right,HIGH);
}
void loop()
{
analogWrite(mot1,255);
analogWrite(mot2,0);
analogWrite(mot3,255);
analogWrite(mot4,0);
while(1)
{
Left=digitalRead(left);
Right=digitalRead(right);
if((Left==0 && Right==1)==1)
LEFT();
else if((Right==0 && Left==1)==1)
RIGHT();
}
}

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void LEFT (void)
{
analogWrite(mot3,0);
analogWrite(mot4,30);
while(Left==0)
{
Left=digitalRead(left);
Right=digitalRead(right);
if(Right==0)
{
int lprev=Left;
int rprev=Right;
STOP();
while(((lprev==Left)&&(rprev==Right))==1)
{
Left=digitalRead(left);
Right=digitalRead(right);
}
}
analogWrite(mot1,255);
analogWrite(mot2,0);
}

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analogWrite(mot3,255);
analogWrite(mot4,0);
}
void RIGHT (void)
{
analogWrite(mot1,0);
analogWrite(mot2,30);
while(Right==0)
{
Left=digitalRead(left);
Right=digitalRead(right);
if(Left==0)
{
int lprev=Left;
int rprev=Right;
STOP();
while(((lprev==Left)&&(rprev==Right))==1)
{
Left=digitalRead(left);
Right=digitalRead(right);
}
}

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analogWrite(mot3,255);
analogWrite(mot4,0);
}
analogWrite(mot1,255);
analogWrite(mot2,0);
}
void STOP (void)
{
analogWrite(mot1,0);
analogWrite(mot2,0);
analogWrite(mot3,0);
analogWrite(mot4,0);
} // End of the program
Proteus
This is a software which is employed in drawing the circuit diagram of
the liner tracer robotic car (John, 2013, p. 231). This software is good and
very simple to use in the design, for this research project we used the

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software to draw the proposed circuit diagram. The circuit diagram is thus
illustrated in the diagram below;
Figure 5: Showing Line Following Robot circuit diagram (Lanna, 2014, p.
345).
Literature Review
Design
For the design of this line tracer robotic car, the above-discussed hardware
and software requirements are now combined here and used to come up
with the required line tracer robotic car.

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Driver controller
Robotic car Driver section contains a driver of motor and having DC
brushed motors. The motor driver is used for driving motors because Arduino
does not provide sufficient current and voltage to the motor (Marxgut, 2012,
p. 902). So we include a circuit of motor driver to induce sufficient voltage
and current for the motor. Arduino transmits commands to the driver of the
motor and at that point, it drives motors. The 4 i/p pins for this L293d, put
2,7 on the cleared out and pin 10, 15 on the proper as appeared on the pin
layout diagram (Krul, 2011).
Cleared out input pins will direct the revolution of the motor put across
cleared outside and right input for the engine on the proper hand side
(McMurry, 2015, p. 234). The motors are pivoted on the premise of the
inputs given over the i/p pins as logic 0 or Logic 1 (McComb, 2012, p. 210). In
basic you wish to supply Logic or 1 over the input pins for turning the motor
as seen in the table below;
The input of the
robotic car
The output of the robotic car Movement of the robotic
car
Left
sensor
Right
sensor
Left Motor Right Motor
LM1 LM2 RM1 RM2
0 0 0 0 0 0 No movement
0 1 1 0 0 0 Robotic car turn Right

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1 0 0 0 1 0 Robotic car turn Left
1 1 1 0 1 0 The robotic car will move
forward
Fig 7: Showing the Movement of the robotic car according to the sensor.
Working of the line tracer robotic car
The notion of operation of the line tracer robotic car is related to optic
(Islam, 2014). Here we employ the use of the behaviour of light at white
and black surfaces (Ferrari, 2011). When there is a fall of light on a white
path it is almost wholly reflected but in case of a black path, light is
entirely absorbed.

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Fig 8: IR sensor operated on the white surface mark
In this line tracer, robotic car IR Transmitters and IR receivers also
referred to as photodiodes are employed here (Molle, 2008, p. 2110).
They are generally employed to help to receive and sending light signals.
When infrared rays fall on the white path, it‟s redirected back hence it put
by photodiodes that creates some voltage variations (Sandler, 2013, p.
120). But if IR light is on a black path, the light will absorb in the black
surface and no light beams are reflected back, therefore photodiode
doesn´t collect any rays of light (Cook, 2015, p. 210).
Fig 9: IR sensor operated on the black surface mark

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Here in this robotic car when the sensor senses the white surface at
that point Arduino gets logic 1 as i/p and when faculties black path
Arduino gets logic 0 as an input. For this research project two IR sensor
modules specifically cleared out the sensor and right sensor is utilized
(Margolis, 2012, p. 1012). When both cleared out and right sensor
faculties white at that point robot move forward. On the off chance that
cleared out sensor comes on dark line at that point robot turn cleared
outside (Thai, 2012, p. 2101). In case right sensor detect dark path at that
point robot turn right side till both sensors come at a white surface. When
the white surface comes robot commences moving on forward again. In
the event that both sensors come on dark line, robot stops.L293D IC is
utilized to alter the bearings of the engines independently (Paul Plöger,
2016, p. 2012). The coding of the automated vehicle is done utilizing
Arduino IDE computer program. On the off chance that else and for circle
rationale conditions are connected whereas programming for the line
taking after a mechanical vehicle and the reaction of the Arduino is
additionally very speedy. The complete circuitry expends almost 9V at
max.
The Quadratic Line-Detection Algorithm
This robotic device can as well use the concept of the quadratic in
detection of line as it move, it is possible to get the relationship between

Research Project 29
the following coordinates of the IR sensor as well as the output (motors).
This can be shown by the following equations;
Y1= ax12+ bx1+c . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Y2= a(x1+1)2 +b(x1+1) +c . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Y3= a(x1+2)2+b(x1+2) + c . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
The coordinate esteem, at which the yield value of the quadratic bend is
the most extreme, is considered as the genuine position of the line
(Warren, 2013). By utilizing the fundamental calculus, one would know
that the coordinate value is;
x= - b
2 a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
a= y 1+ y 2−2 y 3
2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
x= y2-y1-2ax1-a . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Final design
After the design of the line tracer robotic car, the prototype of the same
will appear as given in the diagram below;

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Fig 10: Showing the prototype of the final design of a line tracer robotic
car. (Baker, 2011)
Research methods and approaches to primary and secondary research.
The study made use of several primary and secondary research
methods and approaches. This being a scientific invention type of
research, it mainly employed secondary approaches to obtain information
on the intended topic of discussion (Bilmate, 2013). We first began by
carrying out interviews and surveys from individuals in different industries

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such as hospitals and hotels on the challenges that they faced during the
delivery of goods to the intended estimations.
We realized a great vulnerability and thus the need for designing an
appropriate mode for delivering their products. I also sought their views
on the how they would the specific features of the design to look like. For
the design of the line tracer robotic cars, we sought for relevant
information from several internet sources in order to select the best and
simplest design for the intended purpose (Belmans, 2010). I also
managed to acquire related journals and articles that were vital in
understanding the design of line tracer robotic cars.
Types of communication approaches to present research outcomes.
A commonly used approach or method to present the research
outcomes of given research project is through the dissemination of the
research findings. This generally involves putting into consideration the
targeted audiences and end users as well as probable setting that the
research findings can be received (Bany, 2012). It involves preparation of
a dissemination plan that will assist in communicating the research
outcomes to intended end users in accordance to the research topic. This
will help in determining whether the project results are a successful
innovation or not.

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The research outcomes can also be published in different scholarly
journals. This is an effective mode of communicating research findings
since they can be accessed by different people from different regions.
Publishing research outcomes through journals will also place it alongside
other peer or related articles that have similar findings or are closely
associated (Bizuayehu, 2014). The results can also be presented at
continuing educational setups, at journal clubs, at various unit meetings
and seminars etc.
Future scope of the line tracer robotic car
In the future when this is implemented and used in the industry, it can be
employed in different filed as discussed below;
i. Line tracer robotic car can be employed in the medical hospital
stores where it will be used to pick up medicine from a given drawer
and take it to the required destination (Ghoshal, 2013, p. 311).
ii. This robotic car can be further extended for colour detection oh
highways.
iii. Line tracer robotic cars can as well be employed shopping mall to
help to move of product from one place to another (Gupta, 2011, p.
211).
iv. It can also be used in the hospital to help take the drugs to the
patients from the pharmacist to the rooms where the patients are.

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v. Line tracer robotic car can be made with a digital camera which is
attached to the car for a real-time monitoring of the traffic.
Conclusion
The main goal of this research project is to come up with a line tracer
robotic car which is capable to trace a predefined line/ path. This is
realized with the help of the IR sensor which detects both white and black
light and then sends information to the driver of the motor and the
Arduino UNO microcontroller. Arduino also controls other operations. The
line tracer robotic car is hence complete. Despite the lots of days spent in
front of the computer designing and writing the program as well as
debugging the codes, the codes worked perfectly and the line tracer
robotic car worked as per the objective is given above. The use of the
Arduino UNO made the design easier in coding since it is easy to code and
to debug.
The Dc brushed motor worked perfectly as it should be, the Dc
brushed motor also made work easier since the source of power was Dc
(battery). For real design of this, it is highly recommended to use a bigger
source of power to supply a sufficient amount of power which will be able
to drive the system. Relatively bigger DC brushed motor should be
employed to aid in the movement of the bigger design of the line tracer
robotic car. For a strong design of this line tracer robotic device. From the
perfect design above, it can be clearly hypothesized that line tracer

Research Project 34
robotic car will be adopted by the most hospital in the transportation of
drugs and by most shopping mall for transportation of goods/product.
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Hawaii: IEEE.
Gupta, G. S., 2011. Autonomous Robots and Agents. 3rd ed. London:
Springer.
Hossain, M., 2013. Common uses of actuators used in most common wheels
in robots. 3rd ed. Toronto: IEEE.

Research Project 36
Hurm, J., 2012. Use of DC brushed motor in the design of the robotic device.
2nd ed. Hawaii: IEEE.
Hurt, J., 2016. DC brushed motors as actuators in wheels of robotic cars. 2nd
ed. Hull: IEEE.
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Chicago: Springer.
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Haiver.
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Springer.
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Krul, J., 2011. Designing and construction of the line follower robotic vehicle.
3rd ed. Beijing: IEEE.
Krul, J., 2011. Regulations for sychnrouns motor connection. 2nd ed. Hull:
IEEE.

Research Project 37
Krul, W., 2010. Electrical Engineering: Using Arduino to do the coding. 2nd
ed. Berlin: IEEE.
Lanna, A., 2014. Circuit drawing using the Proteus software. 4th ed. London:
CRC.
Margolis, M., 2012. Make an Arduino-Controlled Robot. 2nd ed. London:
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Behaviors in Autonomous Robotic Vehicles. 1st ed. Quetta: IPDF.

Research Project 38
Thai, C., 2012. Exploring Robotics with ROBOTIS Systems. 1st ed. Chicago:
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Microelectronics Journal.
Appendix
After the design of this line tracer robotic car, most people were
interviewed in some parts of the world about its operation and if it can
really help in solving some problems. And the following results were
obtained. The interview and questionnaire were done in The Lister
Hospital in London and Bluewater Mall in London. And the below-tabled
results were obtained.
The Lister Hospital in London

Research Project 39
11 People were interviewed of which 5 were men and 6 were women,
and the results are as in the table below;
Response
People interviewed Liked it Not sure Didn’t like it
5 men ( 2 doctors + 1 nurses+ 2
patients )
4 0 1
6 women ( 3 nurses + 3
patients)
4 1 1
Total 8 1 2
The interviewee who did not like it said that the device is making a lot of
noise and they would rather be given drugs by the doctors as opposed to the
line tracer robotic car. The also said that there is a possibility of this device
to hit patients in the hospitals.

Research Project 40
Analysis of the obtained data
73%
9%
18%
Interviewee
Liked the design
Not sure of the design
Did not like it
Bluewater Mall
33 People were interviewed of which 17 were men and 16 were
women, and the results are as in the table below;
Response
People interviewed Liked it Not sure Didn’t like it

Research Project 41
17 men ( 5 managers, 2
attendants, 5 customers )
12 2 3
16 women (4 customers+ 3
attendant+ 9 customers)
14 0 2
Total 26 2 5
The interviewee who did not like it in Bluewater Mall said that the device is
making a lot of noise and they would rather have the goods distributed as
opposed to using a machine. The also said that there is a possibility of this
device to hit customers shopping in the mall.
Analysis of the obtained data

Research Project 42
79%
6%
15%
Interviewee
Liked the design
Not Sure
Did not like the design