The line following robot is one of the self operating robot that follows a line (black/white-depends on the circuit design) that drawn on the floor. The basic operations of the line following robot are as follows:
- Capture line position with optical sensors mounted at front end of the robot. Most are using several numbers of photo-reflectors, and some leading contestants are using an image sensor for image processing. The line sensing process requires high resolution and high robustness.
- Steer robot to track the line with any steering mechanism. This is just a servo operation, any phase compensation will be required to stabilize tracking motion by applying digital PID filter or any other servo algorithm.
- Control speed according to the lane condition. Running speed is limited during passing a curve due to friction of the tire and the floor.
Actually, we were supposed to do a mini project for the subject DNT243-Mechatronic Workshop Practice 2 for this semester 4. We were divided into 13 small groups and each group consist of 3 members. I was a group leader for group 13, and my group members were Ng Boon Ping and Wan Nur Aina. All groups were given approximately 1 week to complete all the things (constructing and soldering the circuit). I was thinking that we got not enough time to complete the project since we got only one week before final exam. We need to cover everything not only for this subject, but also for other subjects we registered for this semester. However, there's nothing impossible. I set my mind to think positive and i got spirit from that. Of course I've been a group leader for several tasks before but, for this mini project it might be something different. Perhaps, this mini project would be quite challenging, not only to me but also the rest of groups. The role of group leaders were very significant to make sure the project successfully done.. since we have 3 group members, I divided our job to 3 major parts. First part was presentation and circuit drawing which mostly done by Ping. I did the 2nd part, which was the most important part, constructing and completing the circuit. This is because, the project would be assumed as fail if the circuit was not funtioning. The 3rd part was final report which was done by Aina.. Even though we divided all the jobs into three major parts, it's very important for us to discuss together how to overcome any problems. Sometimes, we got to ask and share something with our group members. As a group leader, I found that the best way to make sure our "dreams come true" is to work as a team. Besides that, we should have a specific planning and set our own goals.. I always stick to this phrase, "Those who fail to plan are planning to fail".....
The first three days, I just kept focusing on the circuit. I searched and read the details of each electronics components from internet and investigate further on the connections, even though some groups had started their soldering process. After I confirmed all the things, I started to construct the circuit on the breadboard. This is the best way to make sure whether the circuit is functioning or not. So, from that I could determine which part got problem or error. Then, I could simply change and remove the components. I couldn't do any mistakes while soldering the components on the strip board. Once I solder on the strip board, it's hard for me to remove the components if I got mistake...
Testing the circuit on the breadboard
Ping and me...
Checking the connectionsAfter I completed everything, I got a problem to make the sensor detect the reflection of light. Is it because of the colour of the LED? or the brightness of the LED? and so on...?? I tried to think of the problem while looking at my robotic car.. After a while, I got an idea how to overcome the problem.. Since the position of LED was higher than the sensor, the light from LED couldn't transmit and focus on the sensor. So, the sensor couldn't detect any reflection of light. Then, I removed the led and replaced with the new one which was longer than the previous one. YES!!! Finally I got it! It's very important to make sure the angle and position of LED were at the right place. Alhamdulillah.... It was successfully done! =)
Successfully done!
Successfully done!Tuesday,16th April 2009 - The final night before the presentation of our mini project. Most of my classmates came to my house to discuss about the problem of their robotic car. They were Sadiq, James, Abu, Japp, Piqi, Zaem, Naeem, Ping, Katron, Amzar, Botak, Aiman, Pidot, Maba, and Alan. Just imagine...hahaha.. I was so happy that time to see all of us gather at one place and that was my house.. Hurm, back to the story, some of them did the wrong circuit, the sensor couldn't detect the reflection of light, the LED did not transmit light, and many more. However, I still wonder how could Sadiq use double 9V Energizer batteries connected in series (equal to 18V) for the circuit but the car could not move even 1 inch. I only used single 9V Energizer for the circuit and double 1.5V for the motor but, it was strong enough to accelerate the car to maximum velocity. Perhaps, his car was so heavy and the motor could not support the movement. There were also cars that one side motor only functioning. We discussed approximately 4 hours from 11.05 pm until 3.17 am to solve all the problems. Since I finished my project early, I gave a hand to help my friends and tried to troubleshoot their circuit. I tried to give advices based on my experiences before.
Since the clock struck 5 am, I decided not to sleep. There were three of us left. Sadiq, Abu, and me. While waiting for the time to pray, I used that time to double check the slide show for tomorrow's presentation that will be at 8am. I included some photos from several views as memories...
Side view
Upper view
Front viewFriday, 17th April 2009-The most memorable moment that I won't ever forget..
Frankly I was so proud on that day.. This is because, my group has performed very well. During the demonstration, my robotic car was the only product that can follow the black line provided by the supervisor without any stuck. I could see the car moves very fast and swerves along the black line. I was so happy that time. There were only two groups that could perform well as their car could move and follow the black line. The first was my group, group 13 and the 2nd group was group 10, Kang, Shao Liang and Maba. They got the 2nd place because their car sometimes got stuck but still moving, and the rest could not 100% move and follow the black line. However, their circuit still functioning and considered as successful also... Congratulation to all of you and we did very best. We are all success. To all my group members, Ng Boon Ping and Wan Nur Aina, thank you so much. I'm proud to be with you. We are the best!
Before presentation and demo(sleepy..)
Frankly I was so proud on that day.. This is because, my group has performed very well. During the demonstration, my robotic car was the only product that can follow the black line provided by the supervisor without any stuck. I could see the car moves very fast and swerves along the black line. I was so happy that time. There were only two groups that could perform well as their car could move and follow the black line. The first was my group, group 13 and the 2nd group was group 10, Kang, Shao Liang and Maba. They got the 2nd place because their car sometimes got stuck but still moving, and the rest could not 100% move and follow the black line. However, their circuit still functioning and considered as successful also... Congratulation to all of you and we did very best. We are all success. To all my group members, Ng Boon Ping and Wan Nur Aina, thank you so much. I'm proud to be with you. We are the best!
Before presentation and demo(sleepy..)
My robot functioning very well.. Yeah!!TO ALL MECHATRONICS STUDENTS, I WISH THE BEST OF LUCK IN YOUR FUTURE... MAY GOD BLESS YOU ALWAYS...
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