Table of Contents• Ways to Implement• Overview• Algorithm• Sensors• Control• Drive• Working Principle• Analogue To Digital converter• Circuit Diagram

Following Lines• Basic algorithm• Many ways to implement design

Research & Development

The Robot

Overview• Sensory systems

o Data input systems; Collect information of outside world

• Data processing/motor controlo Systems to interpret input signals and decide

what to do

• Drive systemso Output systems for machine; Implement

signals from motor controller

Photoresistors• Resistance is inversely

proportional to light levels• Cheapest of the three types

of photoconductive devices• Have the slowest reaction

rate of all photodetectors

Data Processing &Motor Control

• Algorithm• Programmable logic device•Microcontroller

Line Following Algorithm

• Robot direction is determined by what the robot “sees”o If line is centered in front of robot, go forwardo If line is left of center, turn lefto If line is right of center, turn righto If no line is detected, circle until line is found

Line Following Algorithm

• Straight• Left• Right• Circle

Programmable Logic Device (PLD)

• Relatively inexpensive• Can easily implement finite state automata• Has limited program capacity• Has limited program capabilities

Microcontroller• Costlier than PLD• Relatively easy to program• Memory can be expanded, if needed

Drive Systems•DC motor• Stepper motor• Servo motor

DC (Toy) Motors• Abundant and cheap• Easy to implement• Provide no feedback

regarding motor speed or position

DC Motor• Cheap• Will be run continuously• Does not need advanced features of servo

WORKING MODEL• The sensors receive an analog sig Follower robot is a

mobile machine that can follow a path. The path can be a visible black line on a white surface.

• The sensors receive an analog signal that depends on the intensity of light reflected by the black line of emitted beam by the LEDs.

• These signals are sent to the ADC comparator which creates digital signals that are sent to Microcontroller.

• The microcontroller gives instructions to motor to perform work.

Emitter Circuit

ADC/Comparator

Circuit Diagram

Micro Controller Code• int msg[8]={0x09,0x08,0x09,0x08,0x01,0x01,0x01,0x00};• int zee;• void main()• { • TRISB=0b00000111;• TRISD=0b00000000;

• while(1) //repeat forever• {• zee=PORTB&0x07; //• PORTD=msg[zee] ;//select the desired value from array msg based on sensors

//position• delay_ms(1);• //provide delay• }

• }