Autonomous Line Following Robot

Autonomous Line Following Robot (ALFR)

Introduction:
We will have to design a robot. The robot will have to move autonomously by tracking white line on a blue floor, in a specified arena, comprising of a non flat terrain with two ramps of specified gradient.

Possible Applications:

A line tacking robot like this finds its applications in: •Autonomous Fork Lifters in large warehouses

Literature Survey of Existing Systems:

This project is actually built to meet rules and specifications for National Engineering and Robotics Contest (NERC). Its actually a robotics contest; such sort of contests had been held in different areas of the world since long time. The primary purpose of such contests is to demonstrate the ability of a person or a group in the fields of electronics, mechanics and software.
The purpose of such systems is actually to demonstrate the harmony among electrical, mechanical and software fields.

Here are some videos.

Mechanical Model:

Here is rough mechanical sketch of the robot, modeled prior to the manufacturing of the physical robot. The mechanical structure consists of four wheels, mounted on a base, in Skid steering orientation. That is, two wheels on each side would be joined by a chain, with a motor attached to one of them wheel. There will be an Adjuster to tighten up the chain a little bit, in order to reduce vibration and wobbling of the chain. The base is crafted from aluminum as it is very strong and light weight.

Technical Details and components used:-

H-bridge:
IRFP-064n (N-Channel MOSFET)
2a2222n (Gate driver)
Sensor Board:
Photo diode based
LM339D
Generic Board:
89S52

74LS245(Octal Bus Transceiver-Low Power Schottky: For Buffering)

Note:- Detailed schematics/source code and wiring diagrams/details can be provided upon request.

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