Obstacle Detecting Line Follower Robot

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2 Obstacle Detecting Line Follower Robot Group No: 08 Group Name: Gear It Forward Group Members Student Name: Zarin Tasnim Student ID: Student Name: Noshin Tasnim Student ID: Student Name: Fatema-E-Jannat Student ID: Student Name: Nahian Fairuz Student ID: Student Name: Sadia Nazneen Student ID: Submitted to: Mr.Hasib Md. Abid Bin Farid, Assistant Professor, AUST.

3 Abstract: Our robot is an autonomous Obstacle detecting line follower robot in the age of modern growth of computer and hardware. It is a vehicle which follows the line and detects the obstacle. Then it transmits the distance of obstacle from robot in the LCD screen. Introduction: The autonomous robot for path finding and obstacle evasion is able to follow a control strip is sketched on the surface where it is placed. The presented robot captures line position with IR Sensors, while these sensors are escalated at the front of our robot. The main intension of the robot is to aware the owner about the obstacle in LCD screen. Here we made the sensor with IR transmitter and IR Receiver Diode. Equipments List: Serial No Equipments Specification Quantity 1. Magician Chassis Gear motor DC 2 3. Arduino Uno 2 4. Arduino Cable Battery 6V,9V 3 6. Battery Holder Motor Driver IC L293D 1 8. Breadboard Mini,Large 2 9. Ultrasonic Sensor HC-SR Transmitter Receiver Resistance 10K LCD Screen 16X Male Connector Connecting Wires Male to Male Male to Female As required

4 CircuitDiagram: Fig: LCD screen and RF Receiver with arduino

5 Fig: Transmitter, Ultrasonic sensor and IR sensor with arduino

6 Fig: : Motor Driver Circuit with arduino

7 Working Principal: 1. Arduino board: There are many classifications of arduino. It is microcontroller. The Arduino board is the brain of the robot, as it will be running the software that will control all the other parts. The programming is done in this part. We used two Arduinos in our project. It is connected using male to male jumper. 2. Motor Driving Circuit: The DC gear motor is used in the robot.to build the motor drive circuit first we chose LM324 and L293D.But in the circuit we used L293D IC.It is a 16 pin chip called L293D. It can drive 2 DC motors.. We connected the IC with arduino uno. Then we programmed it as per it is required.by the following figure the IC is naratively described:

8 But we didn t control the speed manually rather we did it by programming in microcontroller. The speed of the rigt and left motor is to be nearly same. So we made the right motor speed 255 and left motor speed Line Following Sensor: We have made the sensor part using IR Transmitter (LED) and IR Receiver Diode(Photodiode). The main function of the sensor is to detect the line and follow the path. We have placed the circuit as given in the above picture on a mini breadboard. The Photodiode was kept 1 mm above the LED.So that the photodiode could receive the ray properly. We used 10K resistance also.then we checked the sensor part using the connecting with the arduino. When we hold a black tape on any sensor then it was giving the accurate reading.so Our sensor was ready to use. 4. Obstacle sensor: To sense the obstacle or define any object we have used the ultrasonic sensor.the figure is given: As per the figure we can see it has 4 pins.distance sensors send an ultrasonic signal forward and then wait to receive a bounced signal. Depending on how long the signal takes to bounce back the approximated distance to an obstacle can be calculated. We used this little device to prevent the

9 robot from other obstacles in its way.the Trig and echo pin is connected to the 7 and 6 no pin of arduino.as a result it can detect any obstacle within its range. 5. lcd Screen: The purpose of using the LCD screen is to show the distance of the obstracle from the robot. There are 16 pin which is added with the LCD to connect with arduino.the display has an LED backlight and can display two rows with up to 16 characters on each row. There are rectangles for each character on the display and the pixels that make up each character. The display is just white on blue and is intended for showing text.here two potentiometers are used.one is to adjust the brightness and the other is to adjust the contrast. 6. Transmitter and Receiver Part: The wireless transmitter and receiver pair operate at 315 MHz. They can easily fit into a breadboard and work well with microcontrollers to create a very simple wireless data link. These modules are indiscriminate and will receive a fair amount of noise. ` The receiver is connected in one breadboard along with an arduino. The data pin is connected at the 13 no pin of arduino on digital part. The data pin of transmitter is connected to 4 no pin of digital part of arduino. 7. Power supply: We have used 6V battery with a connector in arduino. A 9V battery is used to give power in the motor driver circuit also. Another arduino is supplied with a constant DC of 5V.

10 Troubleshooting: To create a project every person has to follow some trouble. In the project we also faced some problem. But we also overcame it. Some instruments were really new for us to operate. But we learned how to manage it. Some other troubleshooting are explained below: 1. Controlling the motor speed: It was very necessary for us to fix the speed of the left and right gear motors almost equally. The motors had to be of same speed.but it was not.so we had to make it almost same through programming. We made change in the code of arduino and fixed it. 2. Making sensor With the LDR and LED: Basically in the circuit we used sensor made of Photodiode and Infrared LED. At first we used the LDR and White LED as sensor. But the sensor monitor did not give the accurate value. On the other hand the Photodiode and Infrared LED gave a good value. so we chose this one as our line following sensor. 3. Lack of power supply: Firstly in our project we used a 6V battery for the power supply.but it was very difficult to give power supply in motors, arduino and distance sensor combined. After that problem we used 9v supply to the circuit and 6V in the arduino. Another 5V is used in the other arduino which is holding the receiver. 4. In LCD connection pots are used: Some circuits were there in which we didn t find any pot for the LCD screen connection. But later on we added two pots. As one is used to vary the contrast and another one is used to vary the brightness. 5. Coding of transmitter and receiver: We did the transmitter and receiver with the help of coding.but while coding the software was creating problem. Due to some irrelevant problem it took so much time to be corrected. 6. Selection of circuit: It was almost a new project for us. We were selecting bigger circuit and that was not so much costeffective. But later on by gathering more information we selected the suitable and cost effective circuit.

11 Project Image: The motor driver circuit IR sensor:

12 LCD Screen with Receiver: Overall Images of Robot:

13 Code used in microcontroller: Two arduinos are used in the project. One aruino is connected to the chasis and also connected with receiver.the arduino code is: #include <NewPing.h> #include <VirtualWire.h> #define TRIGGER_PIN 6 #define ECHO_PIN 7 #define MAX_DISTANCE 200 const int transmit_pin = 3; NewPing DistanceSensor(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); const int dangerthresh = 10; // Left Motor Controls # define LeftMotorForward 8 // ip B`

14 # define LeftMotorReverse 9 // ip A # define El 10 // Right Motor Controls # define RightMotorForward 12 // ip A # define RightMotorReverse 13 // ip B # define Er 11 // Grid Sensors // holding the bot with gripper oriented outwards # define Rs A0 # define Ms A1 # define Ls A2 void setup() { // put your setup code here to run once: Serial.begin(9600); pinmode (LeftMotorForward, OUTPUT); pinmode (LeftMotorReverse, OUTPUT); pinmode (El, OUTPUT); pinmode (RightMotorForward, OUTPUT); pinmode (RightMotorReverse, OUTPUT); pinmode (Er, OUTPUT); analogwrite (El,235); analogwrite (Er,255); pinmode (Rs, INPUT); pinmode (Ms, INPUT); pinmode (Ls, INPUT); // A0 // A1 // A2 vw_set_tx_pin(transmit_pin); vw_setup(2000);

15 void loop() { unsigned int DistanceObs = DistanceSensor.ping_cm(); { if ( analogread(ms)<analogread(rs) && analogread(ms)<analogread(ls)) { if (DistanceObs>dangerThresh) {MotorControl(1,1); send("running Forward"); else { send("obstacle detected! "); MotorControl(0,0); send("danger Alert! All stop!"); else if (analogread(rs)<analogread(ms) && analogread(rs)<analogread(ls)) { MotorControl(1,0); send("turning Right"); else if (analogread(ls)<analogread(rs) && analogread(ls)<analogread(ms)) { MotorControl(0,1); send("turning Left"); void MotorControl(int drivel, int driver) { switch (drivel) { case 0: // lft STOP digitalwrite (LeftMotorReverse,0); digitalwrite (LeftMotorForward,0); break; case 1: // lft FORWARD digitalwrite (LeftMotorForward,235); digitalwrite (LeftMotorReverse,0); break; case 2: // lft REVERSE

16 digitalwrite (LeftMotorReverse,235); digitalwrite (LeftMotorForward,0); break; default:break; switch (driver) { case 0: // rgt STOP digitalwrite (RightMotorReverse,0); digitalwrite (RightMotorForward,0); break; case 1: // rgt FORWARD digitalwrite (RightMotorReverse,0); digitalwrite (RightMotorForward,255); break; case 2: // rgt REVERSE digitalwrite (RightMotorReverse,255); digitalwrite (RightMotorForward,0); break; default:break; void send (char *message) { vw_send((uint8_t *)message, strlen(message)); vw_wait_tx(); // Wait until the whole message is gone Another arduino is connected with LCD and Receiver.The arduino code is given below:

17 #include <VirtualWire.h> #include <LiquidCrystal // Instantiation of the LCD: LiquidCrystal lcd ( 8, 9, 4, 5, 6, 7 ) ; // Global Variables: char ch [ 100 ] ; int pos = 0 ; void setup ( ) { lcd. begin ( 16, 2 ) ; // Setting the LCD, 4 lines of 20 characters each. lcd. setcursor ( 0, 0 ) ; // the cursor is placed on the top of the screen. vw_setup ( 2000 ) ; vw_rx_start ( ) ; // bits per second (baud) for communication is indicated. // the reception starts. void loop ( ) { byte buf [ VW_MAX_MESSAGE_LEN ] ; byte buflen = VW_MAX_MESSAGE_LEN ; int i ; if ( vw_get_message ( buf, & buflen ) ) { if ( pos < 2 ) lcd. setcursor ( 0, pos ) ; else { pos = 0 ; lcd. clear ( ) ;

18 // Prints per screen componentwise array until it reaches the end. for ( i = 0 ; i < buflen ; i++ ) { lcd. print ( buf [ i ] ) ; // Other ways to print: // Lcd.write (buf [i]); // Lcd.print (buf [i], BYTE); // Lcd.print ((char) buf [i]); pos ++ ; Application of the project in along with the future work: In this project of obstacle, there are several ways to apply it in different field of our daily life. Again it can be upgraded by adding many features also. Mainly it can be used in many effective sector s of our life. Application: 1. Detecting obstacle in damaged place: Sometimes large buildings collapse due to their improper construction. Some Valuable things could stick there or any person can stuck. The robot will then detect the fallen concretes or any obstacle and then it would be easier to the helpers to remove obstacle easily. 2. In corporate sector: In offices due to lack of peon it becomes hard to work fast. But the robot can make it easy. It can take small things like papers from one to another person. 3. Medical Sector: In medical sector the obstacle detecting line follower robot is really a useful one.as it can carry medicines to the patients. In many cases it becomes really tough for a few nurses to maintain a large number of patients. Then the robot can help them by transportation. Future Works:

19 1. Adding Camera: By adding an camera module it can show also the picture of obstacle.so that the owner can easily be aware about the size of the obstacle. It would be easier to be more conscious. 2. Total distance of obstacle: Our project is about showing distance of obstacle from the robot. But we can improve it by adding a feature to detect the distance of obstacle from the owner. On the other hand owner will have the LCD to catch the information. 3. Using component to remove object: It can also be improved by adding a part which will detect and remove the object from its way. Again it will start its work. Then it will be more easy to remove obstacle from way. It can be used in road for cleaning. Conclusion We made the robot named Obstacle detecting Line follower robot. In the modern era of science and technology it is necessary to reduce the manpower and increase the uses of instrument. Through this hardware project we have learnt about many new projects and we have also developed our skill in programming. It was great scope for us to take the technology a little bit far. References: 1. Mr.Hasib Md. Abid Bin Farid,Assitant Professor,AUST