A Project Report On: "Line Follower Robot" [PDF]

Zitiervorschau

Line Follower Robot

Ahmednagar Jilha Maratha Vidya Prasarak Samaj’s

NEW ARTS, COMMERCE AND SCIENCE COLLEGE, PARNER

A Project Report on “Line follower robot”

Created and Designed by Department of Computer Science

New Arts, Commerce and Science College, Parner. (M.S.)

Page 1

Line Follower Robot

Preface

The Line Follower Robot gives you information about various aspects of Robotics. This robot is developed by the Computer Science Department. We are very thankful to Principal of “New Arts, Commerce and Science College, Parner" for their necessary help. We are placed our gratitude toward the HOD of Department of Computer Science and staff member of Computer Science for their support in the project. You can visit the our Robot video on the YouTube channel at the following link. https://www.youtube.com/watch?v=3wQew9-XNUU

For Robot related queries please contact to Prof Shinde S.A. on „[email protected]‟.

Department of Computer Science

New Arts, Commerce and Science College, Parner. (M.S.)

Page 2

Line Follower Robot

Abstract The present study aims at developing a LINE FOLLOWER ROBOT or a LINE TRACING ROBOT which is programmed using PIC 18F4450. This Robot follows the black line which is drawn over the white surface or it follows the white line which is drawn over the black surface. The infrared sensors are used to sense the line. When the infrared signal falls on the white surface, it gets reflected and if it falls on the black surface, it is not reflected. This principle is used to scan the Lines for the Robot. All the above systems are controlled by the Microcontroller. In our project we are using the popular Microchip Technology‟s series of microcontrollers is called Peripheral Interface Controller (PIC).The Microcontroller PIC 18F4450 is used to control the motors. It gets the signals from the infrared sensors and it drives the motors according to the sensor inputs. These motors are used to drive the robot in forward, left or right direction.

New Arts, Commerce and Science College, Parner. (M.S.)

Page 3

Line Follower Robot

CONTENTS: Sr. No.

Content

Page No.

1

Introduction

05

2

Aim and Objectives

06

3

Hardware Equipment

08

4

Software Requirement

17

5

Control Section

29

6

Component Description

32

7

Applications

33

8

Conclusion

34

9

References

35

New Arts, Commerce and Science College, Parner. (M.S.)

Page 4

Line Follower Robot

CHAPTER 1 INTRODUCTION

What is application of robot? Robot can replace human‟s job in industry because robot can do many things faster than humans. Robots do not need to be paid, eat, drink, or go to the bathroom like people. They can do repetitive work that is absolutely boring to people and they will not stop, slow down, or fall asleep like a human. Individual stationary sensors have limited ranges and applications. Robotic site security sentries are able to work long hours at a consistently high level of precision and vigilance. People are interested in places that are sometimes full of danger, like outer space, or the deep ocean. Thus, when they cannot go there themselves, they make robots which are able to go there for exploration. The robots are able to carry cameras and other instruments so that they can collect information and send it back to their human operators. The continuing development of autonomous robot technologies furthers our abilities to explore the universe. The line following robot can follow the black lines, its motion still needs to be improved.

New Arts, Commerce and Science College, Parner. (M.S.)

Page 5

Line Follower Robot

CHAPTER 2: AIM AND OBJECTIVE AIM: To understand the basic parts of robotics like sensor, motors and controller etc and correlate the different parts so how any application will work as a part of skill development. OBJECTIVE The objective of this project is: i.

To design and construct the platform of line following robot using infrared sensors. Infrared (IR) radiation is electromagnetic radiation of a wavelength longer than that of visible light.

ii.

To apply and study the concept of drive motor. Motor is a machine or device that converts any form of energy into mechanical energy or imparts motion. A servomotor is a rotary actuator that allows for precise control of angular position, velocity and acceleration.

iii.

To study about PIC as a MICROCONTROLLER Criteria for choosing a microcontroller is because it must meet the task at hand efficiently and cost effectively, then the availability of software and hardware development tools such as compilers, assemblers, debuggers, and emulators, and lastly microcontroller have a wide availability in needed quantities both now and in the future In short:-

i.

Infrared sensor was used to detect the black line.

ii.

Continuous dc motors were chosen to drive the line following robot.

iii.

PIC18F4580 microcontroller is selected as a controller of robot.

New Arts, Commerce and Science College, Parner. (M.S.)

Page 6

Line Follower Robot

The basic operations of line follower robot are as follow: 1. The line follower robot will sense or detect the line position with optical sensors and the optical sensors are usually placed at the front end of the robot. 2. The robot will have steering mechanism in order for the robot to move straight, turn left or turn right. 3. The speed of the robot will be controlled according to the lane condition. It means that for curvy lane, the speed of the robot is decrease in order to obtain smooth turn.

New Arts, Commerce and Science College, Parner. (M.S.)

Page 7

Line Follower Robot

CHAPTER 3: HARDWARE REQUIREMENT There are number of microcontrollers, motors and sensor in the market with varying specification. Therefore in this chapter we choose the most suitable microcontroller, motor and sensor to be used for our project.

Autonomous Line Tracking Robot Using Microcontroller (UTEM)

Line following Robotic Vehicle using Microcontroller The project is designed to develop a robotic vehicle that follows a specific path. A pair of photo sensors comprising IR transmitter and photo diode is interfaced to the controller to detect the specified path for its movement. Line follower robot is a useful robot that is used in ware houses, industries, and stores etc, where it follows a dedicated path. This proposed system of a line following robot fulfils the desired functionality and demonstrates the working of it. It uses a pair of photo sensors, comprising of one IR transmitter and a photo diode in each. It guides the robot to follow a specified path by giving appropriate signal to the microcontroller. Two DC motors are used interfaced to the microcontroller through a motor driver IC. Input signals given to the microcontroller from the sensors and then the controller takes the appropriate action according to the program written in it and drives motors as desired.

New Arts, Commerce and Science College, Parner. (M.S.)

Page 8

Line Follower Robot

Further the project can be enhanced by adding more advanced sensors to it. This will add more features to the existing project. For example, we can use ultrasonic sensors for detect any obstacle in front of the robot and to take appropriate action.

Block diagram for Line following Robotic Vehicle using Microcontroller

New Arts, Commerce and Science College, Parner. (M.S.)

Page 9

Line Follower Robot

COMPONENT PIC 18F4450 Microchip Technology‟s series of microcontrollers is called Peripheral Interface Controller (PIC) chips. This PIC are designed for applications requiring high performance and low cost. PIC is generally assumed as programmable interface controller. PIC is the Integrated circuit (IC) which was developed to control the peripheral device, dispersing the function of the main CPU. When compared to human being, the brain is the main CPU and the PIC shares the parts which is equivalent to the autonomic nervous.

Figure PIC18F4450 Input and Output Pins DC Motor DC motors are so called because they are powered by a current placed across the electrodes of the motor. The speed rating of a DC motor is the top speed it can run at. The actual speed the motor runs at is a function of how strong the current is that is applied to the motor. DC motors can be run both forwards and backwards depending on the direction of the applied current. Special circuits called "H-bridges" allow the use of switches and transistors to change the direction a motor moves without having New Arts, Commerce and Science College, Parner. (M.S.)

Page 10

Line Follower Robot

to change any of the wires. For the most part, DC motors come with very high speed ratings, and thus very low torque. Gears and transmissions allow us to convert the speed of a DC motor into torque that can be used for other tasks, such as moving heavy robots or lifting objects.

Figure DC Motor L293D MOTOR DRIVER L293D is a typical Motor driver or Motor Driver IC which allows DC motor to drive on either direction. L293D is a 16-pin IC which can control a set of two DC motors simultaneously in any direction. It means that you can control two DC motor with a single L293D IC. It works on the concept of H-bridge. H-bridge is a circuit which allows the voltage to be flown in either direction. As you know voltage need to change its direction for being able to rotate the motor in clockwise or anticlockwise direction, hence H-bridge IC are ideal for driving a DC motor. In a single l293D chip there two h-Bridge circuit inside the IC which can rotate two dc motor independently. Due its size it is very much used in robotic application for controlling DC motors. Given below is the pin diagram of a L293D motor controller. There are two Enable pins on l293d. Pin 1 and pin 9, for being able to drive the motor, the pin 1 and 9 need to be high. For driving the motor with left H-bridge you need to enable pin 1 to high. And for right H-Bridge you need to make the pin 9 to high. If anyone of the either pin1 or pin9 goes low then the motor in the corresponding section will suspend working. It‟s like a switch.

New Arts, Commerce and Science College, Parner. (M.S.)

Page 11

Line Follower Robot

Working of L293D The 4 input pins for this l293d, pin 2,7 on the left and pin 15, 10 on the right as shown on the pin diagram. Left input pins will regulate the rotation of motor connected across left side and right input for motor on the right hand side. The motors are rotated on the basis of the inputs provided across the input pins as LOGIC 0 or LOGIC 1. In simple you need to provide Logic 0 or 1 across the input pins for rotating the motor. L293D Pins

Pin 2

Pin15

Pin 7

Pin 10

Move forward

0

1

0

1

Move

1

0

1

0

Turn Left

0

1

0

0

Turn Right

0

0

0

1

Backward

Figure: L293 Logic Table

L293D Pin Diagram

IR Sensor

New Arts, Commerce and Science College, Parner. (M.S.)

Page 12

Line Follower Robot

IR Sensors work by using a specific light sensor to detect a select light wavelength in the Infra-Red (IR) spectrum. By using an LED which produces light at the same wavelength as what the sensor is looking for, you can look at the intensity of the received light. When an object is close to the sensor, the light from the LED bounces off the object and into the light sensor.

How IR Sensor works Since the sensor works by looking for reflected light, it is possible to have a sensor that can return the value of the reflected light. This type of sensor can then be used to measure how "bright" the object is. This is useful for tasks like line tracking. Detecting Brightness Since the sensor works by looking for reflected light, it is possible to have a sensor that can return the value of the reflected light. This type of sensor can then be used to measure how "bright" the object is. This is useful for tasks like line tracking. New Arts, Commerce and Science College, Parner. (M.S.)

Page 13

Line Follower Robot

VOLTAGE REGULATOR IC 7805 Voltage regulator IC's are the IC‟s that are used to regulate voltage. IC 7805 is a 5V Voltage Regulator that restricts the voltage output to 5V and draws 5V regulated power supply. It comes with provision to add heatsink. The maximum value for input to the voltage regulator is 35V. It can provide a constant steady voltage flow of 5V for higher voltage input till the threshold limit of 35V. If the voltage is near to 7.5V then it does not produce any heat and hence no need for heatsink. If the voltage input is more, then excess electricity is liberated as heat from 7805. It regulates a steady output of 5V if the input voltage is in rage of 7.2V to 35V. Hence to avoid power loss try to maintain the input to 7.2V. In some circuitry voltage fluctuation is fatal (for e.g. Microcontroller), for such situation to ensure constant voltage IC 7805 Voltage Regulator is used. IC 7805 is a series of 78XX voltage regulators. It‟s a standard, from the name the last two digits 05 denotes the amount of voltage that it regulates. Hence a 7805 would regulate 5v and 7806 would regulate 6V and so on.

New Arts, Commerce and Science College, Parner. (M.S.)

Page 14

Line Follower Robot

The schematic given below shows how to use a 7805 IC, there are 3 pins in IC 7805, pin 1 takes the input voltage and pin 3 produces the output voltage. The GND of both input and out are given to pin 2. Pin Description: Pin No

Function

Name

1

Input voltage (5V-18V)

Input

2

Ground (0V)

Ground

3

Regulated output; 5V (4.8V-5.2V)

Output

Solder Solder is the tool that used to melting a soldering iron for component pin. Solder commonly used in electronics, plumbing and assembly of metal part. This is important tools for make sure the component pin have connect with copper path at board.

Figure : Solder

New Arts, Commerce and Science College, Parner. (M.S.)

Page 15

Line Follower Robot

Soldering Iron This tool was actually used with solder, without this tools the component will not soldering to the board because the solder design for melting this iron to component pin for make the component connect with copper path.

Soldering Iron Hand Drill This tool is used to make a hole such as metal, plastic and wood. We also used this tool for some work such as drilling our robot base for placing the IR sensor and make a hole to put a bold and nut. The drill bit also can be change in any variable size we want.

New Arts, Commerce and Science College, Parner. (M.S.)

Page 16

Line Follower Robot

CHAPTER4: SOFTWARE REQUIREMENT Installation and software implementation 1) Install MPLAB_IDE_v8_60 setup.exe 2) Install mplabc18-v3.47-windows-eval-installer.exe This is useful to use pic18f compiler 3. After you have finished the above step, open MPLAB.

New Arts, Commerce and Science College, Parner. (M.S.)

Page 17

Line Follower Robot

4) Go to Menu->Project->Project Wizard.

5) Hit Next to bypass the Welcome screen and select the PIC processor PIC18F4450 for the project and hit Next.

New Arts, Commerce and Science College, Parner. (M.S.)

Page 18

Line Follower Robot

6) Select the Microchip C18 Toolsuite and hit Next (This assumes C18 was installed previously).

New Arts, Commerce and Science College, Parner. (M.S.)

Page 19

Line Follower Robot

7) Give the project a name >click Browse

8) Give file name to file which is saved in workspace as .mcp >next > next> finish

New Arts, Commerce and Science College, Parner. (M.S.)

Page 20

Line Follower Robot

9) you seen your project is created

New Arts, Commerce and Science College, Parner. (M.S.)

Page 21

Line Follower Robot

Goto File menu> New

10) Type your code hear > save as > .c extension and tick mark to add to Project

New Arts, Commerce and Science College, Parner. (M.S.)

Page 22

Line Follower Robot

11) Now make and build all from project menu

12) Goto programmer > select pickit2

New Arts, Commerce and Science College, Parner. (M.S.)

Page 23

Line Follower Robot

Connect your pic microcontroller board to pickit2 through usb cable and click establish connection you see controller name and its power supply(5v)

Last step is to program to the device remove the pickit 2

You can debug the program also

New Arts, Commerce and Science College, Parner. (M.S.)

Page 24

Line Follower Robot

Circuit for Line Follower Robot STEP FOR PROGRAMMING AND TEST THE CIRCUIT IN PROTEUS Install MPLAB IDE v8.60 MPLAB® X IDE is a software program that runs on a PC (Windows®, Mac OS®, Linux®) to develop applications for Microchip microcontrollers and digital signal controllers. It is called an Integrated Development Environment (IDE), because it provides a single integrated "environment" to develop code for embedded microcontrollers. MPLAB® X Integrated Development Environment brings many changes to the PIC® microcontroller development tool chain. Unlike previous versions of the MPLAB® IDE which were developed completely in-house, MPLAB® X IDE is based on the open source NetBeans IDE from Oracle. Install PICkit 2 v2.55 PICkit is a family of programmers for PIC microcontrollers made by Microchip Technology. They are used to program and debug microcontrollers, as well New Arts, Commerce and Science College, Parner. (M.S.)

Page 25

Line Follower Robot

as program EEPROM. Some models also feature logic analyzer and serial communications (UART) tool. The people who develop open-source software for the PICkit use a mailing list for collaboration. The PICkit 2 uses an internal PIC18F2550 with FullSpeed USB. The latest PICkit 2 firmware allows the user to program and debug most of the 8 and 16 bit PICmicro and dsPIC members of the Microchip product line. The PICkit 2 is open to the public, including its hardware schematic, firmware source code (in C language) and application programs (in C# language). End users and third parties can easily modify both the hardware and software for enhanced features. e.g. GNU/Linux version of PICKit 2 application software, DOS style CMD support, etc. The PICkit 2 has a programmer-to-go (PTG) feature, which can download the hex file and programming instructions into on-board memory (128K byte I2C EEPROM or 256K byte I2C EEPROM), so that no PC is required at the end application. The Microchip version of PICkit 2 has a standard 128K byte memory. 256K byte memory can be achieved by modifying the hardware or from third party. Additionally, a 500 kHz three-channel logic analyser and a UART tool are built into the PICKit 2. These features are missing from the PICkit 3. Since release of V2.55, PICkit 2 PC software now support maximum 4M bytes of memory for programmerto-go feature. This modification makes the PICKit 2 support 8x more memory than the PICKit 3. This enhancement has been contributed by Au Group Electronics and the PICkit 2 firmware is also reported to be submitted to Microchip PICkit 2 team in the middle of March 2009. Installing and Soldering Electronic Component on PCB

INTRODUCTION TO PIC ASSEMBLY PROGRAMMING In this section we discuss about Assembly language format and define some widely used terminology associated with Assembly language programming. While the CPU can work only in binary, it can do so at very high speed. It is quite tedious and slow for human, however to deal with 0s and 1s is called machine New Arts, Commerce and Science College, Parner. (M.S.)

Page 26

Line Follower Robot

language. Although the hexadecimal system was used as a more efficient way to represent binary numbers, the process of working in machine code was still cumbersome for humans. Eventually, Assembly languages were develop, which provided mnemonics for the machine code instructions, plus other features that made programming faster and less prone to error. The term mnemonic is frequently used in computer science and engineering literature to refer to codes and abbreviations that are relativity easy to remember. Assembly language programs must be translated into machine code by a program called an assembler. Assembly language is referred to as a low-level language because it deals directly with the internal structure of the CPU. To program in Assembly language, the programmer must know all the registers of the CPU and the size of each, as well as other details. Today, one can use many different programming languages, such as BASIC, Pascal, C, C++, Java, and numerous others. These languages are called high-level languages because the programmer does not have to be concerned with the internal details of the CPU. Whereas an assembler is used to translate an Assembly language program into machine code, high level languages are translated into machine code by program called a compiler. For instance, to write a program in C, one must use a C compiler to translate the program into machine language. ASSEMBLING AND LINKING A PIC PROGRAM The steps to create an executable Assembly language program are outlined as follows: First we use a text editor to type our programming. In the case of the PIC microcontrollers, we use the MPLAB IDE, which has a text editor, assembler, linker, simulator and much more all in one software package. It is excellent development software that supports all the PIC chips and is free. Assembler has the file names follow the usual DOS conventions, but the source file has the extension “asm”. The “asm” extension for the source file is used by an assembler in the next step. 1. The “asm” source file containing the program code created in step 1 is fed to the PIC assembler. The assembler converts the instructions into machine code. The assembler will produce an object file and an error file. The extension for the object file “o”. The extension for the error file, which contains any syntax error and their line numbers, is “err”. The error file can be viewed with any text editor. New Arts, Commerce and Science College, Parner. (M.S.)

Page 27

Line Follower Robot

2. Assemblers require a third step called linking. The link program takes one or more object files and produces a hex file, a list file, a map file, an intermediate object file, and a debug file. The hex file has the extension “hex”, the list file extension is “lst”, the map file extension is “map”, the intermediate object file extension is “out”, and the debug file extension is “cod”. After a successful link, the hex file is ready to be burned into the PIC‟s program ROM and is downloaded into the PIC Trainers.

New Arts, Commerce and Science College, Parner. (M.S.)

Page 28

Line Follower Robot

CHAPTER 5

Control Section Programming in Assembly Language using MPLAB #include

//

[[[[Include the PIC18F550 Headers]]]]]]

/* COMPILER DIRECTIVES FOR CHIP CONFIGURATION BITS*/

#pragma config PLLDIV = 5 , CPUDIV = OSC1_PLL2 , USBDIV = 2 , FOSC = INTOSCIO_EC // You can write this way// OR #pragma config FCMEN = OFF

// OR this way

#pragma config IESO = OFF #pragma config PWRT = OFF #pragma config BOR = OFF #pragma config BORV = 3 #pragma config VREGEN = OFF #pragma config WDT = OFF #pragma config CP0 = OFF, CP1 = OFF, CP2 = OFF, CP3 = OFF #pragma config CPB = OFF #pragma config CPD = OFF #pragma config WRT0 = OFF, WRT1 = OFF, WRT2 = OFF, WRT3 = OFF #include #include #define sensor1 PORTAbits.RA1

// SENSOR 1 IS CONNECTED TO PORT

A RA1 #define sensor2 PORTAbits.RA2

// SENSOR 2 IS CONNECTED TO PORT A

RA2 #define sensor3 PORTAbits.RA3

// SENSOR 3 IS CONNECTED TO PORT A

RA3 #define sensor4 PORTAbits.RA4

// SENSOR 4 IS CONNECTED TO PORT A

RA4 #define sensor5 PORTAbits.RA5

// SENSOR 5 IS CONNECTED TO PORT A

RA5 ////////////////////////////////////////////////////////////////////// MAIN PROGRAM///////////////////////////////////////////// void main(void) New Arts, Commerce and Science College, Parner. (M.S.)

Page 29

Line Follower Robot { TRISA =0xFF; LATA=0X00; TRISB =0x00; LATB =0X00; CMCON = 0X07;

//Disable Comparator

ADCON1bits.PCFG0=1; ADCON1bits.PCFG1=1; ADCON1bits.PCFG2=1; ADCON1bits.PCFG3=1; ADCON0bits.ADON=0;

//Disable ADC

while(1) { if(

sensor1==1 & sensor2 ==0 & sensor3==0 & sensor4==1 & sensor5==1 || sensor1==1 & sensor2 ==1 & sensor3==0 & sensor4==0 & sensor5==1 || sensor1==1 & sensor2 ==0 & sensor3==0 & sensor4==0 & sensor5==1 || sensor1==1 & sensor2 ==0 & sensor3==1 & sensor4==1 & sensor5==1 || sensor1==1 & sensor2 ==1 & sensor3==0 & sensor4==1 & sensor5==1 || sensor1==1 & sensor2 ==1 & sensor3==1 & sensor4==0 & sensor5==1 )//robot

forward { LATBbits.LATB3 = 0; // RB-0 to LOW LATBbits.LATB2 = 1; // RB-1 to LOW LATBbits.LATB1 = 0; // RB-0 to LOW LATBbits.LATB0 = 1; // RB-1 to LOW } else if( sensor1==0 & sensor2 ==1 & sensor3==1 & sensor4==1 & sensor5==1|| sensor1==0 & sensor2 ==0 & sensor3==1 & sensor4==1 & sensor5==1|| sensor1==0 & sensor2 ==0 & sensor3==0 & sensor4==1 & sensor5==1|| sensor1==0 & sensor2 ==0 & sensor3==0 & sensor4==0 & sensor5==1) //robot turns right { LATBbits.LATB3 = 0 ; // RB-0 to LOW LATBbits.LATB2 = 1; // RB-1 to LOW LATBbits.LATB1 = 0; // RB-0 to LOW LATBbits.LATB0 = 0; // RB-1 to LOW New Arts, Commerce and Science College, Parner. (M.S.)

Page 30

Line Follower Robot } else if(sensor1==1 & sensor2 ==1 & sensor3==1 & sensor4==0 & sensor5==0 || sensor1==1 & sensor2 ==1 & sensor3==1 & sensor4==1 & sensor5==0 || sensor1==1 & sensor2 ==1 & sensor3==0 & sensor4==0 & sensor5==0 || sensor1==1 & sensor2 ==0 & sensor3==0 & sensor4==0 & sensor5==0)// robot turns left { LATBbits.LATB3 = 0; // RB-0 to LOW LATBbits.LATB2 = 0; // RB-1 to LOW LATBbits.LATB1 = 0; // RB-0 to LOW LATBbits.LATB0 = 1; // RB-1 to LOW } else { LATBbits.LATB3 = 0; // RB-0 to LOW LATBbits.LATB2 = 0; // RB-1 to LOW LATBbits.LATB1 = 0; // RB-0 to LOW LATBbits.LATB0 = 0; // RB-1 to LOW } } }

New Arts, Commerce and Science College, Parner. (M.S.)

Page 31

Line Follower Robot

COMPONENT NO

DESCRIPTION

QUANTITY

1 2 3 4 5 6 7 8 9 10

IR Line Tracking Sensor Capacitor 10uf IC L293D PCB Board DC Motor LED Diode IN4007 Battery 12V Voltage Regulator 7805 Resistor 10kOhm Resistor 100KOhm Resistor 1KOhm Crystal Push Button PIC18F Board LCD 16X2 character

1 5 1 4 3 10 10 1 1 10 10 10 1 10 1 2

11 12 13 14

New Arts, Commerce and Science College, Parner. (M.S.)

Page 32

Line Follower Robot

APPLICATIONS OF LINE FOLLOWER ROBOT 1. It can act as maze solver. Basically it follows a line, therefore it can be used in mining where the robots are used to find the way out of the mine.2. 2. If we implement a robotic arm along with the line follower then it can be used to pick and place the objects in its way and can be very useful in our day to day life.3. 3. Apparatus to control the automatic placing of material along a junction between surfaces with reference to the form and position of the junction including a tool controllably movable to deposit material progressively along the junction in response to a control signal. 4. An imager linked to the movement of the tool to produce an image of the surfaces. 5. By modifying the position of the sensors, same principle can be used in obstacle avoidance and edge detection.

New Arts, Commerce and Science College, Parner. (M.S.)

Page 33

Line Follower Robot

CONCLUSION This is the first step of making intelligent robots capable of making their own decisions on the situations provided. The design, implementation and testing of a working project proved to be very challenging. The primary objective of detecting and following a specific coloured line proved to be a great learning experience, as we did not have prior hands-on experience in Embedded Systems. The difficulties in project management as well as those brought to light during experimentation provided an opportunity to work on problem-solving abilities. Despite many problems encountered, I found this experience a rewarding and educational one. This project can have many uses in practical fields, from teenagers‟ toy cars” to robots working in industries and even in wars. It can be further improved to have more decision taking capabilities by employing varied types of sensors and thus could be used in big industries for different applications.

New Arts, Commerce and Science College, Parner. (M.S.)

Page 34

Line Follower Robot

References Books1. PIC Microcontroller Interfacing and Programming-Mohammad Ali Mazidi 2. PIC 18F4450 Datasheet. 3. Sensor and Transducers-D. Patranbis 4.Basic Electronics- V.K.Mehta and Rohit Mehta

Websites1. www.robosoft.com 2 http://www.rakeshmondal.info/microcontroller-tutorials 3. http://www.pic18f.com\18f4550-c-tutorial/2009/11/16/tutorial-4-hello-world-programin-c\

New Arts, Commerce and Science College, Parner. (M.S.)

Page 35