Line following robots

Ondřej Staněkostan89@gmail.com

pocketBotpRobot

http://www.gvp.cz/~ostan

Infra Red Sensor

IE ID

Signal

microcontroller ATMega8-16PU„robot’s brain“

9V electromotor Lego Technic

A guideline sensor module

obstacle sensor (CNY70 + infra LED)

Infrared receiver (remote control)

light emitting diode(signalization)

AA 1,2V NiMHaccumulators

What does the robot consist of?robot’s brain, sensors, efectors, power supply

How a robot can follow a guideline

left engine

rightengine

L R

Leftsensor

rightsensor

1) Being on a line…The simplest case is when both sensors are above a guideline and a robot follows it going straight on.

How a robot can follow a guideline

left engine

rightengine

L R

Leftsensor

Rightsensor

2) Loosing a line…Approaching a curve, a right sensor looses contact with a line. The robot unclutches its left engine, thereby it begins to turn left to return to the line.

STOP

How a robot can follow a guideline

leftengine

rightengine

L RLeftsensor

Rightsensor

3) Outside of a line…If a curve is too sharp (it means a curve radius of the line is smaller than robot’s turning radius), a robot can loose the guideline and it is outside of it. It changes the direction of the engine, which causes the robot to turn towards to the line. The sensors that are placed off axis get closer to the line... 

How a robot can follow a guideline

left engine

rightengine

Leftsensor

Rightsensor

Left sensor is again in contact with the line

STOP

L R

FeCL3

Making a Making a circuit boardcircuit board

pocketBotpocketBot

Line following robots

Ondřej Staněkostan89@gmail.com

pocketBotpRobot

http://www.gvp.cz/~ostan

Ambient light problem

Id1

Signal

IeId2