Logic Based Line Following Mobile Robot
I. OBJECTIVES
1. To be able to produce a functional logic based mobile robot that can traverse and follow the black line track as accurate and as fast as possible. 2. To be able to understand the basic concepts behind different sensor technologies and apply it to the line detecting circuit of the line following mobile robot.
3. To be able to establish the relationship between the electrical and mechanical components of the line following mobile robot.
4. To be able to see a functional real time application of logic gates and related circuitry.
II. ELECTRONIC DESIGN AND INVENTORY
A. Schematic and Board Design
Figure 1. Schematic of the Sensor Circuit
Note: The photo transistor was later replaced with a light dependent resistor (LDR).
Figure 2. Board Design of the Sensor Circuit
Actual Board Size: 50 mm x 20 mm
Note: During construction, the LDRs and the LEDs are detached from the sensor circuit board and were mounted at the front bumper of the line following mobile robot then reattached to the sensor circuit by wires for optimum sensitivity. Figure 3. Schematic of the Logic Circuit
Figure 4. Board Design of the Logic Circuit
Actual Board Size: 50 mm x 25 mm (excluding excess space for mechanical mounting)
Note: The free jumper in the schematic was later used in the board design for connection purposes only. The headers JP1 and JP2 are connected to the H-Bridge which is bundled already with the Remote Controlled Car’s Chassis. During construction, it is discovered that a 5V supply is not enough to provide the necessary power to operate the sensors properly so it was increased to 9V without sufficient adverse effects on the operational amplifiers (op-amps) and the logic gates.
B. Inventory of Materials
III. RESULTS
A. Mechanical Design
From the logic gate circuit, the steer left and steer right functions (JP1 and JP2) are just tapped from the H-Bridge and connected to the steering motor. Since it is not
1. To be able to produce a functional logic based mobile robot that can traverse and follow the black line track as accurate and as fast as possible. 2. To be able to understand the basic concepts behind different sensor technologies and apply it to the line detecting circuit of the line following mobile robot.
3. To be able to establish the relationship between the electrical and mechanical components of the line following mobile robot.
4. To be able to see a functional real time application of logic gates and related circuitry.
II. ELECTRONIC DESIGN AND INVENTORY
A. Schematic and Board Design
Figure 1. Schematic of the Sensor Circuit
Note: The photo transistor was later replaced with a light dependent resistor (LDR).
Figure 2. Board Design of the Sensor Circuit
Actual Board Size: 50 mm x 20 mm
Note: During construction, the LDRs and the LEDs are detached from the sensor circuit board and were mounted at the front bumper of the line following mobile robot then reattached to the sensor circuit by wires for optimum sensitivity. Figure 3. Schematic of the Logic Circuit
Figure 4. Board Design of the Logic Circuit
Actual Board Size: 50 mm x 25 mm (excluding excess space for mechanical mounting)
Note: The free jumper in the schematic was later used in the board design for connection purposes only. The headers JP1 and JP2 are connected to the H-Bridge which is bundled already with the Remote Controlled Car’s Chassis. During construction, it is discovered that a 5V supply is not enough to provide the necessary power to operate the sensors properly so it was increased to 9V without sufficient adverse effects on the operational amplifiers (op-amps) and the logic gates.
B. Inventory of Materials
III. RESULTS
A. Mechanical Design
From the logic gate circuit, the steer left and steer right functions (JP1 and JP2) are just tapped from the H-Bridge and connected to the steering motor. Since it is not