Line Tracer Robotic Cars: A Solution to Efficient Goods Delivery

Research Project 1
RESEARCH PROJECT
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Research Project 2
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

Research Project 4
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

Research Project 5
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.

Research Project 6
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.

Research Project 7
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

Research Project 8
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