Design and Implementation of a Line Follower Robot

Abstract

Line follower robots are autonomous robots that detect the black line by infrared ray (IR) sensors which send and receive infrared waves to identify the black line. Moving along with complicated paths such as dashed, spiral, and sharp angles requires a more appropriate configuration of the IR sensors. The goal of this study is to propose a line follower robot that can pass regular and irregular, dashed-line, and spiral paths. The structure of the robot includes three main parts: the L298 module, the programmable board Arduino UNO board, and twelve IR sensors. The black line is identified by the IR sensors. Nine sensors are used for following spiral paths, and three additional sensors are considered for passing the dashed-line paths. The sensors are configured in such a way that the robot can follow the lines and move with the least error. The speed and direction of the motors are adjusted by an L298 module and the programs are processed by the Arduino UNO. Experimental results demonstrate that the robot could satisfactorily follow the lines with high accuracy and a low tracking error.