Line-Follower

Autonomous Line follower, started as a part of SDP 2.0 in an attempt for competitions.
1st Runners-up in Line Follower, NIRMAN 2.0, Silicon Institute, Bhubaneswar.
Winners in Trekkon(Line follower), WISSENAIRE-23, Indian Institute of Technology, Bhubaneswar.

Components & Materials

• Arduino Uno & Connector
• Two parallel lines of bread-board, Jumpers, Switch-SPST
• Li-ion battery 3S: ~12V(preferred) or Alkaline battery: 9V
• IR Sensors x5
• L298N (2C) Motor Driver
• DC Motors x2
• Chassis(Acrylic sheets:3mm,5mm), Motor Wheels x2, Castor wheel x1
• Nuts & Bolts, Glue gun, Soldering iron, Double Tapes

Working Idea

Code (Arduino)

Written on Arduino. There are two version:

• Casewise/Conditional high-lows (Used in NIRMAN-2.0)
  Codes: v0 and v3
• PID (Used in Wissenaire-23)
  Codes: v20,v21,v22,v32,v4 v4 being the latest.
  Note that v4 code has an speed(255,255) in //sharp left case. This was a deliberate change to account for the multiple left turns in the track. This also helped in escaping a right loop(where normally it should have gone straight,into the loop); hence significantly reducing lap time.

Circuit

Generic Design for motors with 5 sensors to arduino.

Wirings

Chassis

Design

• 17cm (height) X 14cm (width) body.
• Front panel to stick IR sensors
• Cover panel to sandwich and hold the motors.

Since the cut was made on 5mm acrylic, the front panel was not required in the final setup. Note that using the front panel keeps all the sensors one line, as in a generic setup. Otherwise it stays in an inverted V shape which can give some strategical advantage (like detecting crosses better).

Irregularities/Errors

The top screw holes might be a bit off in the design, which was made to screw in the motor drivers.

Members

Aditya Kamble (Captain) - Chassis Design, Co-ordination
Vishal Meena - Code, Algorithm
Aayush Jelmeria - Co-ordination, Track Design
Karan K. Sahoo - Chassis Design, Algorithm
Sanat K. Behera - Chassis Design, Circuit
S. Mahesh (Mentor) - Code, Algorithm, Working Idea
Girija S. Ray (Mentor) - Code, Track Design, Circuit