LINE FOLLOWER ROBOT

Cao Quoc Huy

*
University UPG din Ploiesti, nr 39 Bld Bucuresti, Ploiesti.
e-mail: quoc_huy115@yahoo.com

Abstract
Line follower robot is a mobile machine that can detect and follow line which is drawn on the floor.
The path can be a visible black line on a white surface (reverse). Robot should read for identifying his
position in some time, after that, the control system(PIC18F) will create for robot some orders to
respect components in purposes of making correct movements of the robot.
Key words: line follower robot, black follower

Introduction
Follower robot is a mobile machine that can follow a path. The path can be a
visible black line on a white surface (reverse).
In order to lead a robot Trackback. Used the PIC18F458 from Microchip (40
pins)
The robot uses 4 IR LEDs (Tx) and 4 IR sensors (Rx) with distance between
the two sensors is 25mm. The first Rx receives an analog signal that depends on
the intensity of light reflected by the black line of emitted beam by the TX.
These signals are sent to the MCP comparator which creates digital signals (0 or
1) that are sent to Microcontroller PIC.

Tx1(left) Tx2(center) Tx3(center) Tx4(right)

Rx1(left) Rx2(left) Rx3(center) Rx4(right)
The created signals by comparator are digital, with each set of formed digital
signals by MCP , and activities of microcontroller robot knows how follow
correct drawn line .
a> Follow a black line

Rx1.Rx2.Rx3.Rx4 Actions of robot

0000 Stop
0110 Go straight
0100
0010
1100 Turn right
1000
0011 Turn left
0001
b> Follow a white line
Rx1.Rx2.Rx3.Rx4 Actions of robot
0000 Stop
1001 Go straight
1011
1101
0011 Turn right
0111
1100 Turn left
1110

In this robot, using 2 motors 6V DC with this type of engine, you may alter the
sense of action but can not adjust engine speed. Because the engine speed is
greater than needed speed. However must be reduced his speed
To reduce speed, we used a reduction for each engine. Besides him, we used 2
channels PMW (Pulse Width Modulation) at outputs of microcontroller. With
PWM method, we can adjust the applied voltage on motor speed so when we
adjust the voltage, speed will be changed too. PWM is a method that varies
amplitude which is put on motor by modifies of Duty cycle DC

( In the diagram above, V is the voltage through the motor and t is the time of
passage)
Block diagram of robot:

CBD 486 E( 74HC86)

Comparator

Motor driver
Port XOR
Sensor

Microcontroller

MCP

L293
PIC18F458

Implementations:

a) Block diagram of control block and PCB

b) Sensors Circuit and PCB :
 Program Code : .
The program was written by using MBLAB program . In this program 2 PWM channels
are used to reduce engine speeds. For details, you can make contact with author
quoc_huy115@yahoo.com
*********************************************
void main(void)
{
unsigned char i;

TmrGen = 0x0;
System_Init(); // user.c

RunFlag = 0;
Sensors._byte = 0x0;
LED5_On();
if(RunFlag)
{
i = Sensors._byte & 0xF;

switch(i)
{
case 0b0000:
Stop();
break;

case 0b0110:
case 0b0010:
case 0b0100:
Run();
break;

case 0b1100:
case 0b1000:
Turn_Right();
break;

case 0b0011:
case 0b0001:
Turn_Left();
break;
}//end switch
}
else
}//end main
*************************************************
 Conclusions
Follower robot is a versatile platform that allows developments of various applications. The
modern structure, we can easily modify the possibility of functions and add some our new
functions. The price, the machine is a good choice for inventions and new applications in
human life.

References
1. Adrian G.Moise. – “Sisteme de conducere a roboţilor”. Editura Universităţii Petrol-Gaze din
Ploieşti
2. Îndrumator de laborator la disciplina “Sisteme de conducere a roboţilor”
http://www.ac.upg-ploiesti.ro/cursuri/scr/lab.html
3. http://www.kmitl.ac.th/~kswichit/ROBOT/Follower.pdf.
4. http://www.micahcarrick.com/05-27-2006/failurebot-line-following-robot.html