Line Tracking Robot Using Arduino In Proteus

Line Tracking Robot Using Arduino In Proteus

In this article we will learn how to make Line Tracking Robot Using Arduino in Proteus.
In the last post we will learn how to make Forward and Backward Dc Motor Circuit using Arduino and LCD in proteus. You can visit our website,
I hope you appreciate my work, let’s discuss about today’s project.

Components:

1. Arduino nano
2. IC (L293D)
3. DC motor
4. IR sensors (4)
5. Jumper wires

Circuit Diagram…

Construction…

• Connect VSS & VS pins of IC with +ve
• Connect GND pin of IC with GND
• Connect OUT1 pin of IC with one side of DC motor 1^st
• Connect OUT2 pin of IC with 2^nd terminal of 1^st DC motor
• Connect OUT3 pin of IC with 1^st side of 2^nd DC motor
• Connect OUT4 pin of IC with 2^nd side of 2^nd DC motor
• Connect IN2 pin of IC with D13 pin of Arduino
• Connect IN4 pin of IC with D12 pin of Arduino
• Connect IN3 pin of IC with D11 pin of Arduino
• Connect pin 1 of IC with D9 pin of Arduino
• Connect pin 2 of IC with D10 pin of Arduino
• Connect pin 3 of IC with D8 pin of Arduino
• Connect the VCC pins of All IR sensors with +ve
• Connect the OUT pins of All IR sensors with GND
• Connect GND of 1^st IR sensor with A0 pin of Arduino
• Connect GND of 2^nd IR sensor with A1 pin of Arduino
• Connect GND of 3^rd IR sensor with A2 pin of Arduino
• Connect GND of 4^th IR sensor with A3 pin of Arduino
• Connect GND of 5^th IR sensor with A4 pin of Arduino

Hardware Image…

Working…

A line tracking robot is a type of mobile robot designed to follow a specific path or track, typically a black line on a contrasting white surface. This is achieved by using sensors to detect the line and making adjustments to the robot’s motors to keep it on track. You can build a line tracking robot using an Arduino microcontroller and a few other components. Here’s a basic overview of how it works:

Applications…

1. Educational Projects
2. Automated Guided Vehicles
3. Agriculture
4. Traffic Management
5. Automatic Robot Car

Advantages…

1. Ease of Programming
2. Affordability
3. Community Support
4. Educational Value
5. Real-World Applications

Program Code Images…

Program code…

#define m1 9  //Right Motor MA1

#define m2 10  //Right Motor MA2

#define m3 11  //Left Motor MB1

#define m4 12  //Left Motor MB2

#define e1 13  //Right Motor Enable Pin EA

#define e2 8 //Left Motor Enable Pin EB

 

//*********5 Channel IR Sensor Connection*********//

#define ir1 A0

#define ir2 A1

#define ir3 A2

#define ir4 A3

#define ir5 A4

//*************************************************//

 

void setup() {

pinMode(m1, OUTPUT);

pinMode(m2, OUTPUT);

pinMode(m3, OUTPUT);

pinMode(m4, OUTPUT);

pinMode(e1, OUTPUT);

pinMode(e2, OUTPUT);

pinMode(ir1, INPUT);

pinMode(ir2, INPUT);

pinMode(ir3, INPUT);

pinMode(ir4, INPUT);

pinMode(ir5, INPUT);

}

 

void loop() {

//Reading Sensor Values

int s1 = digitalRead(ir1);  //Left Most Sensor

int s2 = digitalRead(ir2);  //Left Sensor

int s3 = digitalRead(ir3);  //Middle Sensor

int s4 = digitalRead(ir4);  //Right Sensor

int s5 = digitalRead(ir5);  //Right Most Sensor

 

//if only middle sensor detects black line

if((s1 == 1) && (s2 == 1) && (s3 == 0) && (s4 == 1) && (s5 == 1))

{

//going forward with full speed

analogWrite(e1, 255); //you can adjust the speed of the motors from 0-255

analogWrite(e2, 255); //you can adjust the speed of the motors from 0-255

digitalWrite(m1, HIGH);

digitalWrite(m2, LOW);

digitalWrite(m3, HIGH);

digitalWrite(m4, LOW);

}

 

//if only left sensor detects black line

if((s1 == 1) && (s2 == 0) && (s3 == 1) && (s4 == 1) && (s5 == 1))

{

//going right with full speed

analogWrite(e1, 255); //you can adjust the speed of the motors from 0-255

analogWrite(e2, 255); //you can adjust the speed of the motors from 0-255

digitalWrite(m1, HIGH);

digitalWrite(m2, LOW);

digitalWrite(m3, LOW);

digitalWrite(m4, LOW);

}

 

//if only left most sensor detects black line

if((s1 == 0) && (s2 == 1) && (s3 == 1) && (s4 == 1) && (s5 == 1))

{

//going right with full speed

analogWrite(e1, 255); //you can adjust the speed of the motors from 0-255

analogWrite(e2, 255); //you can adjust the speed of the motors from 0-255

digitalWrite(m1, HIGH);

digitalWrite(m2, LOW);

digitalWrite(m3, LOW);

digitalWrite(m4, HIGH);

}

 

//if only right sensor detects black line

if((s1 == 1) && (s2 == 1) && (s3 == 1) && (s4 == 0) && (s5 == 1))

{

//going left with full speed

analogWrite(e1, 255); //you can adjust the speed of the motors from 0-255

analogWrite(e2, 255); //you can adjust the speed of the motors from 0-255

digitalWrite(m1, LOW);

digitalWrite(m2, LOW);

digitalWrite(m3, HIGH);

digitalWrite(m4, LOW);

}

 

//if only right most sensor detects black line

if((s1 == 1) && (s2 == 1) && (s3 == 1) && (s4 == 1) && (s5 == 0))

{

//going left with full speed

analogWrite(e1, 255); //you can adjust the speed of the motors from 0-255

analogWrite(e2, 255); //you can adjust the speed of the motors from 0-255

digitalWrite(m1, LOW);

digitalWrite(m2, HIGH);

digitalWrite(m3, HIGH);

digitalWrite(m4, LOW);

}

 

//if middle and right sensor detects black line

if((s1 == 1) && (s2 == 1) && (s3 == 0) && (s4 == 0) && (s5 == 1))

{

//going left with full speed

analogWrite(e1, 255); //you can adjust the speed of the motors from 0-255

analogWrite(e2, 255); //you can adjust the speed of the motors from 0-255

digitalWrite(m1, LOW);

digitalWrite(m2, LOW);

digitalWrite(m3, HIGH);

digitalWrite(m4, LOW);

}

 

//if middle and left sensor detects black line

if((s1 == 1) && (s2 == 0) && (s3 == 0) && (s4 == 1) && (s5 == 1))

{

//going right with full speed

analogWrite(e1, 255); //you can adjust the speed of the motors from 0-255

analogWrite(e2, 255); //you can adjust the speed of the motors from 0-255

digitalWrite(m1, HIGH);

digitalWrite(m2, LOW);

digitalWrite(m3, LOW);

digitalWrite(m4, LOW);

}

 

//if middle, left and left most sensor detects black line

if((s1 == 0) && (s2 == 0) && (s3 == 0) && (s4 == 1) && (s5 == 1))

{

//going right with full speed

analogWrite(e1, 255); //you can adjust the speed of the motors from 0-255

analogWrite(e2, 255); //you can adjust the speed of the motors from 0-255

digitalWrite(m1, HIGH);

digitalWrite(m2, LOW);

digitalWrite(m3, LOW);

digitalWrite(m4, LOW);

}

 

//if middle, right and right most sensor detects black line

if((s1 == 1) && (s2 == 1) && (s3 == 0) && (s4 == 0) && (s5 == 0))

{

//going left with full speed

analogWrite(e1, 255); //you can adjust the speed of the motors from 0-255

analogWrite(e2, 255); //you can adjust the speed of the motors from 0-255

digitalWrite(m1, LOW);

digitalWrite(m2, LOW);

digitalWrite(m3, HIGH);

digitalWrite(m4, LOW);

}

 

//if all sensors are on a black line

if((s1 == 0) && (s2 == 0) && (s3 == 0) && (s4 == 0) && (s5 == 0))

{

//stop

digitalWrite(m1, LOW);

digitalWrite(m2, LOW);

digitalWrite(m3, LOW);

digitalWrite(m4, LOW);

}

}