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Abstract
This report describes the line following robot which can be put in use in many industries. Due
to increase demand and less manpower available robots can become a crucial part of any
system. A line following robot is one of the type in robotics which follows either a black or
white line that is drawn on the contrasting colored surface. This robot uses several IR
proximity sensors to identify and to stay on the track. The group of 5 sensors and reflection
from these on track makes it possible for the robot which is driven by 2DC motors to control
the motion accordingly The STM32 nucleo board (STM32F401RE MCU) and Seeed bot
shield are interfaced along with the code which enables the robot to sense the path and to
control the movement of its wheels. Small Line follower robot can be used in hospitals,
restaurants, in museums as tour guide and various other applications. Large line follower
robots are usually used in industries for assisting the automated production process. They
are also used in military applications, human assistance purpose, delivery services etc.
Introduction
We all have seen robots in the movies which are presented as intelligent form of artificial life
having almost all the aspects of the human being. But in reality, robots are not exactly
walking, talking intelligent machine like human as we all have imagined from movies and
stories. Few decades back Robots was just a well imagined concept which was predicted to
replace human dependencies in almost all industries. The fantasy of free and proficient work
influenced the specialists of an opportunity to go on day and night to convey the fantasy to
presence. Be that as it may, the errand was vain because of the absence of micro
processors to complete the counts which were quite important. Presently in the year 2019,
the chip innovation is many times further developed than what existed in those days. Yet at
the same time the robots of today are no chance near what our films depict them to be. This
isn't just because of downsides in processor innovation, yet in addition in different fields.
For example in any restaurant, server takes the food from kitchen to the table. It doesn’t
need any human intelligence. Job is just to deliver the food even though it involves human
errors such as incorrect understanding and deliver it to the wrong table, possibility of
dropping or spilling the food etc. This task of human can be easily and efficiently carried out
by robot if only robot knows the path. Ability to move and to follow the path is what the robot
needs in this case. Like we follow the tracks on road to reach the destination, If robots starts
following the track to the given table, need of server for this task won't be necessary. There
are several industries where such tasks can be replaced with the robots who have task is
just to follow the track. This is where Line following robots come into pictures which follows
the laid down track. DC motors robot using IR sensors and by controlling the wheels based
on the combination of readings from the sensors, Line following can be achieved.
● Conceptual design of the system (interpretation of the specification, top
level flow-charts, associated supporting analysis, etc.)

● Detailed design and implementation of the code (flow charts of major
routines, application code).
● Discuss the main challenges of implementation.
1. Hardware Adjustment: We are using STM32 Nucleo board and Seeed bot
shield. Seeed bot shield has 2 wheels and in between 2 wheel there is a
socket where nucleo board is fit. As nucleo board is obstructing the wheel so
we had to cut the corner and sand the one side of a nucleo board to make
wheel pass through it.
2. Sensor sensitivity: As sensors are placed very close to each other, little bit of
difference in track lead to incorrect readings from sensors which made robot
to get down of the track. After so much of testing and analysis we found out
that sensor sensitivity needed to be adjusted in order for sensors to become
immune to negligible difference on track. There is a IR line finder
potentiometer which can be turned clockwise and anticlockwise to increase or
reduce the sensitivity respectively.
3. Consistency and width of line on track - As sensors are placed in very close
proximity on board, choosing the right size of a line on track gets very
imperative. Little bit of extra width on line triggers adjacent sensor to sense it
and give the incorrect move to the wheels which makes robot go off the track.
Especially on sharp turns and curved turns. We had to draw the line using the
same width black tape and cut accordingly on curves and turns.
Testing (Description of tests, results)
First Test : In first test we implemented the hardware with basic initialisation to check if
hardwares are connected fine and sensors were sensing the line.
Result: DC Motors started running and Corresponding sensors were giving the right signals
on track
Second Test : In this test we tested if robot is following the straight line on track. In this we
only programmed one center sensor’s output in code to follow the straight line.
Result : Robot started following the straight line on track and stopped the wheels as soon as
it stopped detecting the line.
Third test : In this test, we implemented the code in accordance with all the five sensors and
combination of its output to see if proper command is given to motors where robot can detect
the straight line and turns.
Result: Robot started following the track smoothly on straight line, it adjusted its wheel
motion on turns and completed the track,
● Summary
Line Follower is a standout amongst the most significant parts of automation robotics. A Line
Following Robot is a self-ruling robot which can pursue either a dark or white line that is
drawn superficially comprising of a differentiating shading. It is intended to move naturally
and pursue the plotted line. It upgrades interdisciplinary way to deal with
mechanical,electronic, electrical and programming abilities. The utilization of the line
following robot covers the individual household machine and robotization and control part of
substantial industry. Human are savvy common machine however it has genuine limitation of
effectiveness and reliability. Robots are made to supplant reliance of human power
somewhat. The undertaking is some way or another intended to play out the comparative
errand.
● Reference/Bibliography
● Code listings

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Abstract

● Conceptual design of the system (interpretation of the specification, top

level flow-charts, associated supporting analysis, etc.)

routines, application code).

● Discuss the main challenges of implementation.

Testing (Description of tests, results)

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