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Line Follower Robot with ATmega16 using Analog IR Sensor

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 The Line follower robot is a mobile machine that can detect and follow the line drawn on the floor. Generally, the path is predefined and can be either visible like a black line on a white surface with a high contrasted color or it can be invisible like a magnetic field. Therefore, this kind of Robot should sense the line with its Infrared Ray (IR) sensors that installed under the robot. Line follower robot is a useful robot that is used in ware houses, industries, and stores etc, where it follows a dedicated path.

In this project, we will learn How to design a line follower robot with AVR ATmega16 microcontroller using Analog IR Sensor. This robot is an automatic robot i.e no manual control is needed. The robot automatically follows a line without any deviation from the line. The robot changes its direction incase it deviates from the line. Generally, the line is of black color on white surface or white line on black surface. To detect white and black color, we will use IR sensor because white surface reflects IR rays and black surface absorbs IR rays. In this way, the output of IR sensor defers in black and white surface. In our case, we will use a black line on white surface.

Here, we will use three analog IR sensors. All the three sensors will be placed in the front side of the robot and all will be pointing downward. One sensor will be placed above the black line and the other two will be on left and right side of middle sensor. The output of the IR sensor changes when the sensors moves from white surface to black surface or from black surface to white surface and this change will be detected by the microcontroller. But the outputs of the three analog IR sensors are analog in nature, so these signals cannot be processed directly by the microcontroller. For this, we will use the ADC of the ATmega16 microcontroller to convert the analog signals to digital values. After converting the analog signals of analog IR sensors to digital values, the ATmega16 microcontroller will compare the sensor values with a reference value(3V in our case) to know the position of the sensors.

When the position of the middle IR sensor is above the black line, the ATmega16 microcontroller will send the forward control signal to the DC motor driver (L293D) of the robot to move the robot in forward direction and when the left sensor is above the black line, the ATmega16 microcontroller will send the left control signal to the DC motor driver (L293D) of the robot to move the robot in left direction and when the right sensor is above the black line, the ATmega16 microcontroller will send the right control signal to the DC motor driver (L293D) of the robot to move the robot in right direction. The above processes of ADC conversions, sensors output comparison and robot control continues. In this way, the robot follows the black line.

Softwares Required

• AVR Studio 4 Software
• WinAVR 2010 Software
• SinaProg Hex Downloader Software
• USBasp Driver

Hardwares Required

Name	Quantity
AVR Trainer Board-100 with ATmega16	1pc
AVR USB Programmer	1pc
Analog IR Sensor	3pc
DC Motor Driver	1pc
Robot V 4.1	1pc
1 to 1 Connector-Female to Female	10pc
10 to 10 FRC Female to Female Connector	2pc
12V, 1A DC SMPS Adaptor	1pc

Video

Connection Guide

The step-by-step connection guide for Line Follower Robot with ATmega16 using Analog IR Sensor is as follows