LINE FOLLOWER ROBOT

ABSTRACT

The line following robot, operates as the name specifies. It is programmed to

follow a dark line on a white background and detect turns or deviations and
modify the motors appropriately. The optical sensor is an array of
commercially available IR reflective type sensors.
The core of the robot is the 8051 microcontroller. The speed control of the
motors is achieved by the two PWM modules in the μC. The direction
control is provided by 2 I/O pins. The H-Bridge motor driving/control chip
takes these signals and translates
it into current direction entering the motor armature. The motors require
separate supply for operation.
The differential steering system is used to turn the robot. In this system, each
back wheel has a dedicated motor while the front wheels are free to rotate.
To move in a straight line, both the motors are given the same voltage (same
polarity). To manage a turn of different sharpness, the motor on the side of
the turn required is given lesser voltage. To take a sharp turn, its polarity is
reversed.
The sensor is an array of 7 IR LED-Phototransistor pairs arranged in the
form of an inverted V. The output of each sensor is fed into an analog
comparator with the threshold voltage (used to calibrate the intensity level
difference of the line with respect to the surface). These 7 signals (from each
photo-reflective sensor) is given to a priority encoder, the output of which to
the microcontroller.
The control has 6 modes of operation, turn left/right, move left/right, and
drift left/right. The actual action is caused by controlling the direction/speed
of the two motors (the two back wheels), thus causing a turn. The actual
implementation is a behavior based (neural) control with the sensors
providing the inputs. The robot can also be programmed to find the line by
pseudo-random movement in case no line is detected by the optical sensor.

INTRODUCTION
The robots of the movies, such as C-3PO and the Terminator are portrayed
as fantastic, intelligent, even dangerous forms of artificial life. However,
robots of today are not exactly the walking, talking intelligent machines of
movies, stories and our dreams.
In the 1970’s scientists proposed that in the year 2000 we would have
created artificial life forms, almost perfect in terms of intelligence and
capabilities. The dream of free and efficient labor made the researchers of
the time go on day and night to bring the dream to existence. But the task
was futile due to the lack of compact processors to carry out the calculations
which were oh so necessary. Now in the year 2000, the microprocessor
technology is thousands of times more advanced than what existed back
then.
But still the robots of today are no way close to what our movies portray
them to be. This is not only due to drawbacks in processor technology, but
also in various other fields such as vision, motor control so and so forth.
Robots may never make it to our kitchens or living rooms as personal slaves,
but they certainly have made their way to the manufacturing industry, aero-
space industry, and yes to the work benches of robotic hobbyists. Robots are
now working in dangerous places, such as nuclear disposal, space explorers,
fire fighting, etc.
The word "robot" originates from the Czech word for forced labor or serf.
Robots are electronic devices intended to perform a desired function. Many
refer to them as "machines", however, a drill press is a machine, yet it
requires an operator to perform its function, where robots can be
programmed to do it themselves. Robots have the potential to change our
economy, our health, our standard of living, our knowledge and the world in
which we live. As the technology progresses, we are finding new ways to
use robots.
Each new use brings new hope and possibilities, but also potential dangers
and risks.
Robotics is not only a science, but it is also an art. The bots we build reflect
the ideas and personalities we portray. There are many different versions of
robots that can be made.
From turtle bots to vehicles like the Mars rovers to rovers like R2-D2. From
walkers that have anywhere from 1 to 10 legs to robotic arms to androids.
Whatever you can dream, you can create. The level of expertise you want
your robot to have and how much learning and research you want to do is up
to you. For those who have relative experience in computer programming
and electronics, this may come easier to you than anyone new to the hobby.
Those who build models, RC vehicles, and other artwork will find it
challenging to modify some of their previous projects.
We have seen how ants always travel in a line, following an invisible route
in search of food, or back home. How on roads we follow lanes to avoid
accidents and traffic jams. Ever thought about a robot which follows line? A
perfect or near perfect mimic of mother-nature? After all the purpose of
robotics is to recreate in terms of machines what we see around to solve a
problem or fulfill a requirement.
Programming intelligence into a robot (or computer) is a difficult task and
one that has not been very successful to date even when supercomputers are
used. This is not to say that robots cannot be programmed to perform very
useful, detailed, and difficult tasks; they are. Some tasks are impossible for
humans to perform quickly and productively. For instance, imagine trying to
solder 28 filament wires to a 1/4in square sliver of silicon in 2 s to make an
integrated circuit chip. It’s not very likely that a human would be able to
accomplish this task without a machine. But machine task performance, as
impressive as it is, isn’t intelligence.
APPLICATION
• Industrial automated equipment carriers
• Entertainment and small household applications.
• Automated cars.
• Tour guides in museums and other similar applications.
• Second wave robotic reconnaissance operation