Project synopsis

Title: Line Following Robot using Arduino Uno

Abstract:
Line Following Robot is an autonomously guided robot that detects and follows a dark line on a
white surface (or it can also be a white line on a dark surface). This project uses Arduino Uno
microcontroller board, which is based on ATmega328P microcontroller chip. Line Following
Robot (LFR) uses the property of reflection of light to detect the line. Here, we have used an IR
sensor that detects the line. The movement of the robot is controlled using a wheel attached to
the DC motor, which in turn is controlled using the L293D motor driver.

Introduction:
The field of Robotics has developed rapidly in recent times, so much so that robots have
become an indispensable part of our lives. The application of robotics stretches from
industries, healthcare, underwater applications, logistics, and cleaning to domestic, agricultural,
educational, security, entertainment, etc. One such application is Line Following Robots (LFR).
An LFR is an autonomous robot that detects and follows a line drawn. The robot follows the
line by adjusting its speed and direction using the sensors attached.

Components required:
 Arduino Uno microcontroller board with ATmega328P MCU
 L293D motor driver
 IR sensors
 BO DC motors
 Wheels
 Castor wheel
 9V battery
  Robot chassis
 Jumper cables

Working:
The LFR here uses IR sensors to detect the line. We know that the reflection of light is
maximum for a white surface and is minimum for a black surface (Because black absorbs all the
light incident on it). The IR sensors used are placed on either side of the robot, with the line to
be followed in the center. The IR sensor module consists of a transmitter and a receiver. The IR
transmitter is basically an IR LED that emits infrared radiation and the receiver is a photodiode
that can detect the reflected IR radiation. The line used here is black so that all the light
emitted is absorbed and minimum IR radiation is reflected. The surrounding surface is
white which reflects the IR radiation to the receiver. This is the working principle used to control
the motors of the robot, which is in turn controlled by the microcontroller.

The robot consists of two motors: a right motor and a left motor. The robot must perform four
kinds of motion: left, right, forward, and stop. The movement of the motor is dependent on the
signals received from the IR sensors. To move forward: when both sensors are on top of the
white surface, both motors must rotate for the robot to move in the forward direction.
To turn left: Here the left sensor is on the dark line and the right sensor is on the white part. The
signal comes to the left sensor. Now the left motor turns in backward direction and right turns in
forward direction. To turn right: This is like the left turning, the difference being that,
here, the right sensor is on the dark part and thus, the right motor turns backward, whereas left
rotates forward. To stop: Here, both sensors are at the black line, which makes both of the
motors to stop rotating, and the robot comes to halt.

Applications:
 The principle of working of LFRs can be used in industries for pick and place operations.

 These robots can also be used to automate repetitive tasks in industries like welding,
painting, and assembly processes.
  The working of LFRs can be used in autonomous driving in automobile industries.
Sensors and cameras can be used to detect the lane in which the vehicle is supposed to
stay and run.

 On the domestic side, the LFRs can be used in cleaning robots like vacuum cleaners,
robot mops, lawnmowers, pool cleaners, etc.

 LFRs can also be used in guidance applications in malls, tourist attraction sites to guide
people in an area.

Conclusion:
Line Following robots are useful in various applications. They use IR sensors usually because of
their high accuracy, but alternatively, LDRs (Light Dependent Resistors) can also be used. These
robots can be used to automate many repetitive tasks, and provide guidance in many places
including potentially hazardous sites. Because of their applications, their popularity is rising and
their applications are expected to be seen in many more fields.

References:
 Circuit digest: Building an easy line following robot using Arduino Uno
 Wikipedia: Arduino Uno
 Rayming PCB and assembly: an introduction to the line following robot.