Line Following Robot Or Line Tracker Using ATtiny2313

 line following robot or line Line Tracker using ATtiny2313  with complete project report, code and circuit diagram.

In this post we will learn how to make line following robot or line Line Tracker using ATtiny2313.

line following robot or Line Tracker using ATtiny2313  with complete project report, code and circuit diagram.

Here i am going to explain a very simple well known and Interesting project "Line Tracking Robot or Line Following Robot".Line Following is a machine that can follow a path. The path can be visible like a black line on a white surface  or it can be invisible like a magnetic field.

How to Sense or judge Line??

Line can be Black on a White surface or White on a Black surface.To sense the line or track we can use LDR, IR Sensor etc. The basic concept is that when light falling on that Sensors they get activated.

LED

When light falls on a black surface it will completely absorbed by the black surface. And when this light fall on the white surface it will be reflected through it. I am using IR TX. Rx. pair to sense the black line. IR TX  continuously spread IR light (Not visible to human Eye) and when this falls on IR Rx. it will generate output in milli volt.

line following robot or line Line Tracker using ATtiny2313  with complete project report, code and circuit diagram.

                                          

I am using very low cost AVR series 20 pin Tiny2313 Micro-controller. We know that MCU understand TTL logic +5 v for HIGH and 0 v for LOW. The output of the IR sensor is fed to the MCU  pins but the output of the sensor is in millivolt ; MCU always consider it as LOW. Hence we require an Amplifier to amplify the sensor's output at TTL level.

We can use comparator which compares potentials at its Inverting and Non-inverting terminals and gives +5 V or 0 V signal at the output, now we can fed the output of comparator to MCU i/o pins. One major  advantage is to select Comparator as amplifier is that we can adjust the sensitivity of our sensors. LM324 is a 14-pin quad comparator IC.

LM324 Pin details

According to sensors outputs MCU takes decision and moves the Motors. Here again one thing  is to remember that the output current of MCU is not sufficient to drive the DC-Motors hence we require a Motor Driver IC. I am using very popular L293D Motor Driver IC.

Block Diagram according to above discussion-

block diagram

                              

IR Sensor and LM324 Connection.Repeat this circuit three times.The Output of LM324 is fed to the PORTS (PD0,PD1,PD2) of Tiny2313.

configuration

 Make the array of  IR sensors according to circuit below.Look the images in making steps which describes it clearly.

IR sensor array

 Motor Driver L293D Connections : The MCU generates outputs according to sensors input; output of MCU from PORT B(PB0,PB1,PB2,PB3) connected to pin 2,7,15,10 of L293D respectively.

IC L293D

  Look the table's below to understand how it work.

Table 1

sensor or LM324 output  

Table 2

Complete Circuit Diagram :

Circuit Diagram

power supply

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Download

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