The simple line follower autonomous robot is a robot which acknowledges and follows a well distinguished colored line.
The following PID controlled line follower robot is constructed using components:
Acrylic Fiber sheet: This forms the base of the robot.
LiPo battery: 9V, 2A to provide current in the system.
Arduino (controller): The brain chip of the robot where the algorithm is fed.
Connecting wires
Motors (X2): To drive the wheels.
Wheels (X2)
Castor wheel: Placed in the front to support the IR sensor array.
Working: Light is reflected from the surface containing the 3 mm sized contrast black tape. This contrast in color bears different IR sensor values. In this way, the robot distinguishes the line from the common white background. So, as the robot deviates from the tape, the IR sensor values change accordingly. Based on this the PWM drivers feeding current to the motors give different duty cycle which in turn varies the RPM of the motors. PID control guides the robot with appropriate proportional, Integral and derivative values (which are tuned in the beginning using the Ziegler-Nichols method of tuning).
Code on:
Interrupt library: https://github.com/GreyGnome/EnableInterrupt
