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AUTOMATED GUIDED VEHICLE

LINE TRACER ROBOT

Term Report

Submitted in partial fulfilment of the requirements for the degree

Of

MASTER OF TECHNOLOGY(INFORMATION TECHNOLOGY - WEEKEND)

ACKNOWLEDGEMENTS

I really feel elated to fid a o!!ort"ity to e#!re$$ o"r $i%ere t&a'$ ad a!!re%iatio to y

re$!e%ted ad e$teeed ro*e%t +"ide Dr, C&adra &e'&ar Rai. Reader. /i0er$ity %&ool of

Iforatio Te%&olo+y. GGI /i0er$ity. Del&i,

I 1o"ld r" $&ort of 1ord$ ad $!a%e. if I &a0e to e#!re$$ t&e +ratit"de to "yieldi+ $"!!ort

re%ei0ed fro y re$!e%ted +"ide. all t&ro"+& t&e $ee$ter, Hi$ 0al"a2le $"!!ort. +olde ad0i%e$.

ad %o%er for y !ro*e%t 1ill 2e dee!ly e2edded i y &eart, He &a$ al1ay$ 2ee 0ery$"!!orti0e ad e%o"ra+i+, Ifa%t. I %a oly $ay t&at I a l"%'y to &a0e &i a$ y !ro*e%t +"ide,

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3AYA 4ERMA

INTRODUCTION

A ro2ot i$ a0irt"alor e%&ai%alartifi%ial a+et,I !ra%ti%e. it i$ "$"ally a ele%tro-e%&ai%al

a%&ie1&i%& i$ +"ided 2y %o!"ter or ele%troi% !ro+rai+. ad i$ t&"$ a2le to do ta$'$ o

it$ o1, It i$ a ele%tri% a%&ie1&i%& &a$ $oe a2ility to itera%t 1it& !&y$i%al o2*e%t$ ad to 2e

+i0e ele%troi% !ro+rai+ to do a $!e%ifi% ta$' or to do a 1&ole ra+e of ta$'$ or a%tio$, Itay al$o &a0e $oe a2ility to !er%ei0e ad a2$or2 data o !&y$i%al o2*e%t$. or o it$ lo%al !&y$i%al

e0iroet. or to !ro%e$$ data. or to re$!od to 0ario"$ $ti"li,

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Figure Ro!oti" Arm

Ro2oti%$ i$ t&e e+ieeri+ $%ie%e ad te%&olo+y of ro2ot$.ad t&eir de$i+. a"fa%t"re. ada!!li%atio, Ro2oti%$ i$ related to ele%troi%$. e%&ai%$. ad $oft1are, For ro2oti% e+ieer$. t&e

!&y$i%al a!!eara%e of a a%&ie i$ le$$ i!ortat t&a t&e 1ay it$ a%tio$ are %otrolled, T&e

ore t&e %otrol $y$te $ee$ to &a0e a+e%yof it$ o1. t&e ore li'ely t&e a%&ie i$ to 2e

%alled a ro2ot, A i!ortat feat"re of a+e%y i$ t&e a2ility to a'e %&oi%e$,

W&ile o$t ro2ot$ today are i$talled i fa%torie$ or &oe$. !erfori+ la2o"r or life $a0i+ *o2$.

ay e1 ty!e$ of ro2ot are 2ei+ de0elo!ed ila2oratorie$aro"d t&e 1orld,M"%& of t&e

re$ear%& i ro2oti%$ fo%"$e$ ot o $!e%ifi% id"$trial ta$'$. 2"t o i0e$ti+atio$ ito e1 ty!e$ ofro2ot. alterati0e 1ay$ to t&i' a2o"t or de$i+ ro2ot$. ad e1 1ay$ to a"fa%t"re t&e, It i$

e#!e%ted t&at t&e$e e1 ty!e$ of ro2ot 1ill 2e a2le to $ol0e real 1orld !ro2le$ 1&e t&ey are

fially reali5ed,

HISTORYMay a%iet yt&olo+ie$ i%l"de artifi%ial !eo!le. $"%& a$ t&e e%&ai%al $er0at$ 2"ilt 2y t&e

Gree' +odHe!&ae$t"$. t&e %lay+ole$of 3e1i$& le+ed ad %lay +iat$ of Nor$e le+ed. adGalatea. t&e yt&i%al $tat"e ofy+aliot&at %ae to life,

I t&e 6t& %et"ry 7C. t&e Gree' at&eati%ia Ar%&yta$of Taret" !o$t"lated a e%&ai%al

$tea-o!erated 2ird &e %alled 8T&e i+eo8, Hero of Ale#adria(9:;

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Al-3a5ari(99>?;9@:?). aM"$li i0etord"ri+ t&e Art"id dya$ty. de$i+ed ad %o$tr"%ted a

"2er of a"toated a%&ie$. i%l"di+ 'it%&e a!!lia%e$. "$i%al a"toata !o1ered 2y 1aterad t&e fir$t!ro+raa2le&"aoid ro2ot$i 9@:?, T&e ro2ot$ a!!eared a$ fo"r "$i%ia$ o a

2oat i a la'e. etertaii+ +"e$t$ at royal dri'i+ !artie$, Hi$e%&ai$&ad a !ro+raa2le

dr" a%&ie 1it& !e+$ (%a$) t&at 2"!ed ito littlele0er$t&at o!erated!er%"$$io i$tr"et$

T&e dr"er %o"ld 2e ade to !lay differet r&yt&$ ad differet dr" !atter$ 2y o0i+ t&e!e+$ to differet lo%atio$,

Leoardo da 4i%i(96B@;9B9) $'et%&ed !la$ for a &"aoid ro2ot aro"d 96B, Da 4i%i$

ote2oo'$. redi$%o0ered i t&e 9B:$. %otai detailed dra1i+$ of a e%&ai%al 'i+&t o1

'o1 a$ Leoardo$ ro2ot. a2le to $it "!. 1a0e it$ ar$ ad o0e it$ &ead ad *a1, Co!le#e%&ai%al toy$ ad aial$ 2"ilt i 3a!a i t&e 9:$. t&ey %reated a &"aoid ro2ot 'o1 a$ Ele'trofor

e#&i2itio !"r!o$e$. i%l"di+ t&e 9> ad 96: World$ Fair$, I 9@=. 3a!a$ fir$t ro2ot.Ga'"te$o'". 1a$ de$i+ed ad %o$tr"%ted 2y 2iolo+i$t Ma'oto Ni$&i"ra,

T&e fir$t ele%troi%a"tooo"$ ro2ot$1ere %reated 2y Willia Grey Walterof t&e 7"rde

Ne"rolo+i%al I$tit"te at 7ri$tol. E+lad i 96= ad 96, T&ey 1ere aed Eler ad El$ie,T&e$e ro2ot$ %o"ld $e$e li+&t ad %ota%t 1it& e#teral o2*e%t$. ad "$e t&e$e $ti"li to a0i+ate,

T&e fir$t tr"ly oder ro2ot. di+itally o!erated ad !ro+raa2le. 1a$ i0eted 2y Geor+e De0ol

i 9B6 ad 1a$ "ltiately %alled t&e/iate, De0ol $old t&e fir$t /iate to Geeral Motor$i

9?:. ad it 1a$ i$talled i 9?9 i a !lat i Treto. Ne1 3er$eyto lift &ot !ie%e$ of etalfroadie %a$ti+a%&ie ad $ta%' t&e,

T&e @::? re!ort fro t&eIteratioal Federatio of Ro2oti%$$&o1$ t&at 3a!a lead$ t&e 1orld i

2ot& $to%' ad $ale$ of "lti-!"r!o$e id"$trial ro2ot$, A2o"t ?: !er %et of t&e i$tallatio$ 1ere

arti%"lated ro2ot$. @@ !er %et 1ere+atry ro2ot$.ad 9> !er %et 1ere CARAro2ot$ ad 6 !er%et 1ere%ylidri%al ro2ot$, T&e a*ority of i$tallatio$ are i t&e a"too2ile $e%tor, T&ere are

i%rea$i+ $ale$ ito o a"tooti0e $e%tor$ $"%& a$ etal$ ad !la$ti%$,

CATEGORI#ING ROBOTS

At !re$et t&ere are @ ai ty!e$ of ro2ot$. 2a$ed o t&eir "$e

Geeral-!"r!o$e a"tooo"$ ro2ot$

Dedi%ated ro2ot$,

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Ro2ot$ %a 2e %la$$ified 2y t&eir$!e%ifi%ityof !"r!o$e, A ro2ot i+&t 2e de$i+ed to !erfor oe

!arti%"lar ta$' e#treely 1ell or a ra+e of ta$'$ le$$ 1ell, Of %o"r$e. all ro2ot$ 2y t&eir at"re %a2e re-!ro+raed to 2e&a0e differetly. 2"t $oe are liited 2y t&eir !&y$i%al for, For e#a!le.

a fa%tory ro2ot ar %a !erfor *o2$ $"%& a$ %"tti+. 1eldi+. +l"i+. or a%ti+ a$ a fair+ro"d

ride. 1&ile a !i%'-ad-!la%e ro2ot %a oly !o!"late !rited %ir%"it 2oard$,

Ge$er%&'purpo(e %uto$omou( ro!ot(

Geeral-!"r!o$e a"tooo"$ ro2ot$ are ro2ot$ t&at %a !erfor a 0ariety of f"%tio$ide!edetly, Geeral-!"r!o$e a"tooo"$ ro2ot$ ty!i%ally %a a0i+ate ide!edetly i 'o1

$!a%e$. &adle t&eir o1 re-%&ar+i+ eed$. iterfa%e 1it& ele%troi% door$ ad ele0ator$ ad

!erfor ot&er 2a$i% ta$'$, Li'e %o!"ter$. +eeral-!"r!o$e ro2ot$ %a li' 1it& et1or'$.$oft1are ad a%%e$$orie$ t&at i%rea$e t&eir "$ef"le$$, T&ey ay re%o+i5e !eo!le or o2*e%t$. tal'.

!ro0ide %o!aio$&i!. oitor e0iroetal "ality. re$!od to alar$. !i%' "! $"!!lie$ ad

!erfor ot&er "$ef"l ta$'$, Geeral-!"r!o$e ro2ot$ ay !erfor a 0ariety of f"%tio$$i"ltaeo"$ly or t&ey ay ta'e o differet role$ at differet tie$ of day, oe $"%& ro2ot$ try

to ii% &"a 2ei+$ ad ay e0e re$e2le !eo!le i a!!eara%e t&i$ ty!e of ro2ot i$ %alled a&"aoid ro2ot,

De)i"%te) ro!ot(

Id"$trial ad $er0i%e ro2ot$ %a 2e !la%ed ito ro"+&ly t1o %la$$ifi%atio$ 2a$ed o t&e ty!e of *o2

t&ey do, T&e fir$t %ate+ory i%l"de$ ta$'$ 1&i%& a ro2ot %a do 1it& +reater !rod"%ti0ity. a%%"ra%y.

or ed"ra%e t&a &"a$ t&e $e%od %ate+ory %o$i$t$ of dirty. da+ero"$ or d"ll *o2$ 1&i%&

&"a$ fid "de$ira2le, May fa%tory *o2$ are o1 !erfored 2y ro2ot$, T&i$ &a$ led to %&ea!era$$-!rod"%ed +ood$. i%l"di+ a"too2ile$ ad ele%troi%$, tatioary ai!"lator$ "$ed i

fa%torie$ &a0e 2e%oe t&e lar+e$t ar'et for ro2ot$,

oe e#a!le$ of fa%tory ro2ot$

Car !rod"%tio O a a"toated !rod"%tio lie. a 0e&i%le %&a$$i$ o a %o0eyor i$ 1elded.+l"ed.!aitedad fially a$$e2led at a $e"e%e of ro2ot $tatio$,

a%'a+i+Id"$trial ro2ot$are al$o "$ed e#te$i0ely for !alleti5i+ ad !a%'a+i+ of

a"fa%t"red +ood$,

Ele%troi%$ Ma$$-!rod"%ed!rited %ir%"it 2oard$(C7$) are alo$t e#%l"$i0ely a"fa%t"red 2y

!i%'-ad-!la%e ro2ot$. ty!i%ally 1it& CARAai!"lator$. 1&i%& reo0e tiyele%troi%

%o!oet$fro $tri!$ or tray$. ad !la%e t&e o to C7$ 1it& +reat a%%"ra%y,

Autom%te) gui)e) *e+i"&e((AG4$) Mo2ile ro2ot$. follo1i+ ar'er$ or 1ire$ i t&e floor. or

"$i+ 0i$io or la$er$. are "$ed to tra$!ort +ood$ aro"d lar+e fa%ilitie$. $"%& a$ 1are&o"$e$.%otaier !ort$. or &o$!ital$,

COM,ONENTS OF ROBOTS

Ro2ot$ &a0e a li$t of %o!oet$. 1&i%& idi0id"ally f"lfill $oe re"ireet$ of ro2ot, T&ey are

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Stru"ture

T&e $tr"%t"reof a ro2ot i$ "$"ally o$tly e%&ai%alad %a 2e %alled a 'ieati%$%&ai (it$

f"%tioality 2ei+ $iilar to t&e $'eleto of t&e &"a 2ody), T&e %&ai i$ fored of li'$ (it$2oe$). a%t"ator$(it$ "$%le$). ad *oit$ 1&i%& %a allo1 oe or ore de+ree$ of freedo,

,o-er (our"e

At !re$et. o$tly2atterie$are "$ed. 2"t !otetial !o1er $o"r%e$ %o"ld 2e !e"ati% (%o!re$$ed

+a$e$). &ydra"li%$ (%o!re$$ed li"id$).fly1&eel eer+y $tora+e. et%,

A"tu%tor(

A%t"ator$ are t&e 8"$%le$8 of a ro2ot. t&e !art$ 1&i%& %o0ert$tored eer+yito o0eet, 7y

far t&e o$t !o!"lar a%t"ator$ are ele%tri% otor$. 2"t t&ere are ay ot&er$. !o1ered 2y

ele%tri%ity. %&ei%al$. ad %o!re$$ed air,

Motor$ T&e 0a$t a*ority of ro2ot$ "$e ele%tri% otor$. i%l"di+ 2r"$&ed ad 2r"$&le$$ DCotor$,

te!!er otor$ A$ t&e ae $"++e$t$. $te!!er otor$do ot $!i freely li'e DC otor$, T&ey

rotate i di$%rete $te!$. "der t&e %oad of a %otroller, T&i$ a'e$ t&e ea$ier to %otrol. a$

t&e %otroller 'o1$ e#a%tly &o1 far t&ey $&o"ld &a0e rotated. 1it&o"t &a0i+ to "$e a $e$or,

Air "$%le$ T&e air "$%lei$ a $i!le yet !o1erf"l de0i%e for !ro0idi+ a !"lli+ for%e, W&eiflated 1it& %o!re$$ed air. it %otra%t$ 2y "! to 6: of it$ ori+ial le+t&, T&e 'ey to it$

2e&a0ior i$ t&e 2raidi+ 0i$i2le aro"d t&e o"t$ide. 1&i%& for%e$ t&e "$%le to 2e eit&er lo+ ad

t&i. or $&ort ad fat,

Ele%tro a%ti0e !olyer$Ele%tro a%ti0e !olyer$are a %la$$ of!la$ti%$1&i%& %&a+e $&a!e ire$!o$e to ele%tri%al $ti"latio,

Se$(or(

e$or$ are "$ed to !a$$ iforatio fro real 1orld to ro2ot$, 7a$ed o t&e iforatio fro

$e$or$. ro2ot ay !erfor $oe a%ti0ity, T&ere %a 2e differet ty!e of $e$or$ t&at are "$ed,e$or$ ay $e$e !re$$"re. li+&t. et%, For e#a!le. 2a$ed o t&e ite$ity of li+&t refle%ted 2y t&e

$"rfa%e. a lie tra%er ro2ot (Follo1$ a lie o t&e $"rfa%e, Ite$ity of li+&t i$ differet 1&e it i$

refle%ted fro lie ad $"rfa%e) ay %&a+e it$ dire%tio,

Co$tro& U$it

Cotrol "it i$ t&e 2rai of a ro2ot, 7a$ed o t&e i!"t fro $e$or$ %otrol "it "$t ta'e

de%i$io$, A %otrol "it ay %o!ri$e of ay ele%troi% %o!oet$. li'e a i%ro%otroller.

lo+i% +ate$. et%,

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,OTENTIAL ,ROBLEMS

Fear$ ad %o%er$ a2o"t ro2ot$ &a0e 2ee re!eatedly e#!re$$ed i a 1ide ra+e of 2oo'$ adfil$, A %oo t&ee i$ t&e de0elo!et of a a$ter ra%e of %o$%io"$ ad &i+&ly itelli+et

ro2ot$. oti0ated to ta'e o0er or de$troy t&e &"a ra%e, oe fi%tioal ro2ot$ are !ro+raed to'ill ad de$troy ot&er$ +ai $"!er&"a itelli+e%e ad a2ilitie$ 2y "!+radi+ t&eir o1 $oft1aread &ard1are,

Ma"el De Lada&a$ oted t&at 8$art i$$ile$8 ad a"tooo"$ 2o2$ e"i!!ed 1it& artifi%ial

!er%e!tio %a 2e %o$idered ro2ot$. ad t&ey a'e $oe of t&eir de%i$io$ a"tooo"$ly, He

2elie0e$ t&i$ re!re$et$ a i!ortat ad da+ero"$ tred i 1&i%& &"a$ are &adi+ o0eri!ortat de%i$io$ to a%&ie$,

Mara"di+ ro2ot$ ay &a0e etertaiet 0al"e. 2"t "$afe "$e of ro2ot$ %o$tit"te$ a a%t"al

da+er, A &ea0y id"$trial ro2ot 1it& !o1erf"l a%t"ator$ ad "!redi%ta2ly %o!le# 2e&a0ior %a

%a"$e &ar. for i$ta%e 2y $te!!i+ o a &"a$ foot or falli+ o a &"a, Mo$t id"$trialro2ot$ o!erate i$ide a $e%"rity fe%e 1&i%& $e!arate$ t&e fro &"a 1or'er$. 2"t ot all,

THE LINE TRACER

Autom%te) gui)e) *e+i"&e( ta'e de%i$io 2a$ed o i!"t$ fro real 1orld. ad i re$!o$e ay%&a+e t&eir dire%tio of o0eet, Mo2ile ro2ot$. follo1i+ ar'er$ or 1ire$ i t&e floor. or

"$i+ 0i$io or la$er$. are "$ed to tra$!ort +ood$ aro"d lar+e fa%ilitie$. $"%& a$ 1are&o"$e$.%otaier !ort$. or &o$!ital$,

Early AG4-tyle Ro2ot$ 1ere liited to ta$'$ t&at %o"ld 2e a%%"rately defied ad &ad to 2e

!erfored t&e $ae 1ay e0ery tie, 4ery little feed2a%' or itelli+e%e 1a$ re"ired. ad t&e

ro2ot$ eeded oly t&e o$t 2a$i% e#tero%e!tor$($e$or$), Iteri AG4-Te%&olo+ie$ de0elo!edt&at de!loy tria+"latio fro 2ea%o$ or 2ar %ode +rid$ for $%ai+ o t&e floor or %eili+, I

o$t fa%torie$. tria+"latio $y$te$ ted to re"ire oderate to &i+& aitea%e. $"%& a$ daily

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%leai+ of all 2ea%o$ or 2ar %ode$, Ne1er AG4$ are de$i+ed for !eo!le-friedly 1or'$!a%e$,

T&ey a0i+ate 2y re%o+i5i+ at"ral feat"re$,>D $%aer$or ot&er ea$ of $e$i+ t&ee0iroet i t1o or t&ree die$io$ &el! to eliiate %""lati0e error$i dead-re%'oi+

%al%"latio$ of t&e AG4$ %"rret !o$itio,

A$ t&e ae it$elf $"++e$t$. Li$e Tr%"eri$ a ro2ot t&at tra%e$ a !arti%"lar lie, It 1or'$ o follo1i+!ri%i!le

I$te$(it. o/ &ig+t re/&e"te) !. &ig+t %$) )%r0 (ur/%"e i( )i//ere$t1 T+i( )i//ere$"e i$ i$te$(it.

o/ &ig+t "%$ go*er$ $e2t imme)i%te mo*eme$t o/ &i$e tr%"er ro!ot,

T&ere are aily > 1ay$ of a'i+ a Lie Tra%er

9, Mi%ro-%otroller 7a$ed

@, O!-A! 7a$ed

>, Gate$ 7a$ed

Alo$t e0eryoe +oe$ 1it& t&e fir$t a!!roa%& ad $oe +o 1it& t&e $e%od oe. 2"t oe &a0e+oe 1it& t&e t&ird a!!roa%&, ItJ$ y io0ati0e idea of a'i+ a Lie Tra%er "$i+ lo+i% +ate$,

T&e 1or'i+ i$ $i!le eo"+& to %o!re&ed, A !ly1ood 2oard %o0ered 1it& a 2la%' $"rfa%e

(2la%' %ard2oard !a!er) ad a 1&ite !at& of !ro!er 1idt& i$ tra%ed o t&e 2la%' 2oard, I 1ill "$e

$e$or$ (Li+&t De!edet Re$i$tor$) to $e$e t&e ao"t of li+&t refle%ted fro 2la%' ad 1&ite$"rfa%e$, T&e o"t!"t of $e$or$ 1ill 2e fed to t&e lo+i% %ir%"itry. 1&i%&. i t"r. dri0e t&e otor$,

T&e $e$or$ $e$e t&e !re$e%e of 1&ite tra%e ad a%%ordi+ly +eerate a re$!o$e to t&e lo+i%

%ir%"it, T&e lo+i% %ir%"it deterie$ t&e o0eet of t&e Ro2ot i a !arti%"lar dire%tio, T&eotor$ rotate a%%ordi+ to t&e o"t!"t of t&e lo+i% %ir%"itry ad a%%ordi+ly t&e Ro2ot eit&er o0e$

i a $trai+&t lie or it ta'e$ a t"r,

T&e ar%&ite%t"re of t&e Lie Tra%er %a 2e 2roadly di0ided ito t&ree $e%tio$, W&e t&e$e t&ree

$e%tio$ are %o2ied. t&e t&ey for a lie tra%er Ro2ot, T&e t&ree $e%tio$ are

Me"+%$i"%& Stru"ture; It i$ t&e 2a%'2oe of ay ro2ot, It i$ t&i$ $tr"%t"re t&at for$ t&e 2a$e of

ay ro2ot. o0er 1&i%& t&e ot&er $y$te$ are o"ted,

Se$(or S.(tem; I y ro2ot. $e$or$ 1ill !lay a 0ery i!ortat role a$ t&ey $e$e t&e differe%e

2et1ee t&e 1&ite ad 2la%' $"rfa%e$ ad a'e t&e ro2ot to tra%e 1&ite lie, It i$ t&i$ $y$te olyt&at for%e$ t&e ro2ot to ta'e a t"r if t&e 1&ite lie i$ t"ri+,

Logi" De(ig$; T&e o"t!"t of t&e e$or y$te 1ill 2e +i0e to t&i$ !art 1&ere lo+i% +ate$ are

1or'i+, T&e$e +ate$ "tili5e t&e o"t!"t of t&e $e$or $y$te to dri0e t&e otor$, A%%ordi+ to t&e

o"t!"t of t&e lo+i% %ir%"itry. t&e ro2ot eit&er o0e$ i a $trai+&t lie or it ta'e$ a t"r,

T&e t&ree $e%tio$ 1ill 2e de$%ri2ed i detail oe 2y oe o t&e follo1i+ !a+e$,

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MECHANICAL STRUCTURE

T&e fir$t $e%tio t&at 1e t&i' of. 1&e a'i+ ay 'id of Ro2oti% $y$te i$ it$ e%&ai%al

$tr"%t"re ad it$ !&y$i%al a!!eara%e, All t&e ot&er $e%tio$ are o"ted o t&i$ e%&ai%al$tr"%t"re, T&e Ro2ot 1ill 2e ade "! of a !ly1ood !ie%e, O t&i$ !ie%e all ot&er !art$ of

e%&ai%al $tr"%t"re ad t&e $e$or ad lo+i% $y$te 1ill 2e o"ted,

T&e Me%&ai%al tr"%t"re %o$i$t$ of 0ario"$ !art$ -

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ly1ood 7a$e

Motor$

Tyre$

Figure Me"+%$i"%& %r"+ite"ture o/ t+e Ro!ot

,LYWOOD 3 ,LASTIC BASE

T&e $i5e of !ly1ood!la$ti% !ie%e 1ill 2e a!!ro#iately 9B 2y 9B % or $aller ad it$ t&i%'e$$

1ill 2e B-< , T&e 1ei+&t of t&e !ly1ood $&o"ld 2e ii" !o$$i2le ot&er1i$e t&e Ro2ot

1o"ld 2e%oe 0ery 2"l'y, ly1oodla$ti% i$ oe of t&e 2e$t aterial$ for a'i+ a $all

ar%&ite%t"re. a$ i$ o"r %a$e. a$ it i$ &ard. le$$ 2"l'y. ad %o$t$ le$$,

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MOTORS

It i$ 1it& t&e &el! of otor$ oly t&at a ro2ot o0e$, T&ere are 2a$i%ally t1o ty!e$ of Motor$ t&at%a 2e "$ed for t&e Ro2ot, T&ey are

Dire%t C"rret Motor te!!er Motor

A$ I 1at %oti"o"$ o0eet of t&e Ro2ot. I 1ill "$e DC Motor, te!!er Motor %a al$o 2e

"$ed 2"t a$ it rotate$ i $te!$. 1e re"ire a dri0i+ %ir%"it for it$ %oti"o"$ rotatio, T&e Motor&a$ t1o terial$ 0e ad ;0e, De!edi+ "!o t&e $"!!lie$ +i0e to t&e$e terial$. t&e otor$

eit&er o0e i t&e for1ard dire%tio or 2a%'1ard dire%tio, W&e !o$iti0e $"!!ly i$ +i0e to t&e

otor it rotate$ i oe dire%tio ad 1&e o!!o$ite $"!!ly i$ +i0e to Motor t&e it rotate$ i t&eot&er dire%tio, T&e i!"t to t&e$e Motor$ i$ +i0e fro t&e IC /LN @::> !re$et i t&e lo+i%

%ir%"it,

MOTOR O,ERATING ,RINCI,LE

T&e 2a$i% f"%tioi+ of a DC otor %a 2e e#!laied 2y follo1i+ fi+"re$, W&e Ele%tri% %"rret

i$ !a$$ed t&ro"+& a %oil i a Ma+eti% field. t&e Ma+eti% for%e !rod"%e$ a tor"e. 1&i%& t"r$ t&e

DC Motor,

Figure Wor0i$g o/ DC motor

T&e %o"tator re0er$e$ t&e %"rret ea%& &alf re0ol"tio to 'ee! t&e tor"e r"i+ t&e %oil i t&e

$ae dire%tio,

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Figure Wor0i$g o/ DC motor

T&e Ma+eti% field !rod"%e$ Ma+eti% for%e F. 1&i%& i$ +i0e 2y FIL7. 1&i%& a%t$ !er!edi%"lar

to 2ot& t&e 1ire ad t&e Ma+eti% field,

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Figure Wor0i$g o/ DC motor

T&e Ma+eti% field i$ dire%ted fro Nort& ole to o"t& ole, T&e t"ri+ Tor"e of t&e Motor i$

!ro!ortioal to t&e Ma+eti% field !rod"%i+ it,

Figure Wor0i$g o/ DC motor

Tor4ue 5 For"e 2 Le*er Arm

5 6ILB7W38 (i$9 2 8 (i)e(

5 ILBW(i$9 5 IBA(i$9

TYRES

Fo"r tyre$ 1ill 2e $"ffi%iet to $"!!ort t&e ro2ot T1o tyre$ i t&e frot ad t&e ot&er t1o at t&e

2a%', T&e tyre$ at t&e 2a%' 1ill 2e atta%&ed to t&e $&aft of t&e Motor ad t&e ot&er t1o 1ill 2eo"ted o N"t$ of le+t& aro"d ?-= % t&at are fi#ed to t&e !ly1ood 2a$e "$i+ $oe ad&e$i0e,

T&e tyre$ 1o"ld 2e ade of 1ood ad %o0ered 2y r"22er t"2e$ to iii5e t&e fri%tioal for%e

1it& t&e +ro"d, Woode tyre$ are %&o$e 2e%a"$e t&ey are li+&t ad t&ey %a 2e ade to eet yre"ired $!e%ifi%atio of !ro!er diaeter. 1idt&. 1ei+&t ad %o$t, T&e diaeter of t&e tyre$ at t&e

rear $ide of t&e ro2ot 1ill 2e =-9: %$ ad t&e ot&er t1o &a0e a diaeter of B-< %$, T&e tyre$

1it& differet diaeter are ade i order to &a0e t&e $"rfa%e of t&e Ro2ot !arallel to t&e +ro"d a$

t&e %eter of t&e 2a%' tyre$ 1ill 2e at $oe &ei+&t fro t&e !ly1ood $i%e t&ey 1ill 2e atta%&ed tot&e otor$ $&aft ad t&e ot&er t1o tyre$ are o"ted o t&e "t$ t&at are atta%&ed to t&e !ly1ood,

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SENSOR SYSTEM

T&e ai ta$' of t&e $e$or $y$te i$ to dete%t t&e !re$e%e of 1&ite lie o t&e 2la%' $"rfa%e ad

+i0e %orre$!odi+ o"t!"t to t&e lo+i% $y$te, T&i$ $y$te +i0e$ o"t!"t 0olta+e Hi+& 1&e t&eRo2ot i$ o t&e 7la%' lie ad Lo1 1&e Ro2ot i$ o t&e 1&ite lie, T&e $e$or $y$te 1ill 2e

di0ided ito t&ree +ro"!$ aed et I. et II ad et III, &y$i%ally all t&e t&ree $et$ 1ill 2e

e"i0alet to ea%& ot&er 2"t t&ey 1ill differ d"e to t&e differet dire%tio$ t&ey $e$e, i%e t&eRo2ot %a o0e i t&ree dire%tio$. $o 1e re"ire oly t&ree et$ of $e$or$,

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Figure T+e Se$(or S.(tem

I ea%& $et I 1ill &a0e $erie$ %oe%tio of a LDR (Li+&t De!edet Re$i$tor) ad a re$et, i# of

t&e$e $erie$ %oe%tio 1ill 2e %oe%ted i !arallel, T&e 0olta+e +i0e to t&i$ %ir%"it 1ill 0ary

2et1ee 9:-9@ 0olt$, o$iti0e $"!!ly 1ill 2e +i0e to t&e free ed of re$et ad Ne+ati0e $"!!ly tot&e free ed of LDR, T&e o"t!"t 0olta+e %a 2e o2taied a%ro$$ t&e LDR,

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Figure B%(i" "ir"uitr. o/ Se$(or Set

T&e re$et$ 1ill !ro0ide $erie$ re$i$ta%e to t&e LDR$, T&ey are "$ed to !ro0ide $"ita2le 0olta+e

dro! a%ro$$ t&e LDR ad t&ey al$o !re0et LDR fro 2"ri+, T&ere are t1o ty!e$ of re$et$"$ed. oe 1it& re$i$ta%e "! to 9:: Ko&$ ad ot&er 1it& re$i$ta%e "! to @:: Ko&$, T1o ty!e$

of re$et$ are "$ed a$ t&e re$i$ta%e of LDR 0arie$ o0er a 1ide ra+e. i,e, 2et1ee B:-@:: Ko&$,

T&e$e t&ree $et$ 1ill 2e $e!arately o"ted o a Geeral "r!o$e 7oard, oe LED$ 1ill al$o 2e"$ed i t&e $e$or %ir%"itry, A%t"ally t&e $et$ of $e$or$ 1ill 2e atta%&ed 2elo1 t&e Ro2ot $"rfa%e

ad t&e e0iroetal li+&t 1ill 2e ot 2e a2le to !rod"%e de$ired o"t!"t of t&e $e$or$, Al$o t&e

ao"t of li+&t i ea%& ad e0ery roo (1&ere ro2ot i$ te$ted) 1ill 2e differet. $o t&e o"t!"t of

$e$or$ 1ill 2e differet i ea%& ad e0ery roo, o t&e Ro2ot $&o"ld &a0e it$ o1 li+&t $o"r%e,T&i$ i$ t&e rea$o 1&y LED$ 1ill 2e "$ed,

Figure LED

Oe LED 1ill 2e !la%ed 2elo1 e0ery LDR i order to !ro0ide li+&t, T&e LED$ 1ill ot 2e t&e

oral oeJ$ t&at are "$ed a$ idi%ator$, I$tead I 1ill "$e 2ri+&t LEDJ$, A$ told earlier I 1ill &a0e$i# $e$or$ i ea%& of t&e t&ree $et$, No1 e0ery $e$or. at t&e 2a$e of 1&i%& a LED i$ !la%ed. i$

%o0ered 1it& 2la%' !a!er i order to !re0et iterfere%e fro t&e a2ie%e li+&t, ae i$ tr"e fort&e ot&er t1o $et$,

All t&e LED$ of e0ery idi0id"al $et$ 1ill 2e %oe%ted i $erie$ ad a $erie$ re$i$ta%e of @@: o&1ill al$o 2e !ro0ided to t&e i order to $a0e t&e LED$ fro 2"ri+, 9?4 DC $"!!ly 1ill 2e

+i0e to t&i$ $erie$ LED %ir%"it,

No1 all t&e t&ree $et$ 1ill 2e !la%ed 2elo1 t&e Ro2ot ad 1ill 2e fi#ed "$i+ $oe ad&e$i0e

aterial,

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WORKING OF LDR

LDR i$ a Li+&t De!edet Re$i$tor, It$ o"t!"t Re$i$ta%e 0arie$ 1it& t&e ite$ity of li+&t t&at fall$o t&e LDRJ$ $"rfa%e, A$ t&e Re$i$ta%e %&a+e$. t&e 0olta+e dro! a%ro$$ t&e LDR al$o %&a+e$,

W&e li+&t i$ refle%ted fro ay $"rfa%e it$ ite$ity de!ed$ "!o t&e ty!e of $"rfa%e, W&e li+&trefle%t$ fro a 2la%' $"rfa%e. it$ ite$ity i$ 0ery Lo1 a$ t&e 2la%' $"rfa%e a2$or2$ a#i"

Li+&t, 7"t 1&e li+&t refle%t$ fro a 1&ite $"rfa%e. it$ ite$ity i$ 0ery Hi+& a$ 0ery le$$ ao"tof li+&t i$ a2$or2ed 2y t&e $"rfa%e,

T&e $ae !ri%i!le 1ill 2e "$ed i t&e Lie Tra%er Ro2ot, W&e t&e li+&t i$ refle%ted fro a 1&ite

$"rfa%e. t&e ite$ity of li+&t at t&e LDR 1ill 2e Hi+&, o t&e re$i$ta%e a%ro$$ t&e LDR i$ 0ery

Lo1 aro"d @-9: K o&$, Ad t&e 0olta+e dro! a%ro$$ t&e LDR i$ al$o Lo1, 7"t 1&e t&e li+&t i$refle%ted fro a 2la%' $"rfa%e. t&e ite$ity of li+&t at t&e LDR i$ Lo1, o t&e re$i$ta%e a%ro$$ t&e

LDR i$ Hi+& aro"d B:-@:: K o&$, Ad t&e 0olta+e dro! a%ro$$ t&e LDR i$ al$o Hi+& 1&e 9:4

$"!!ly i$ +i0e to t&e et of $e$or$,

No1 if ay of t&e $e$or$ of a $et i$ a2o0e t&e 1&ite lie it 1ill +i0e Lo1 0olta+e at it$ o"t!"t.1&ile all t&e ot&er $e$or$ 1ill +i0e Hi+& o"t!"t, 7"t a$ t&e fial o"t!"t i$ o2taied 2y %oe%ti+

all t&e LDR$ i !arallel or 2y $&orti+ t&e o"t!"t of all of t&e LDR$. t&e fial o"t!"t 0olta+e 1ill

2e ii" of all t&e 0olta+e$, o fial 0olta+e 1ill 2e Lo1,

Figure O$e (e$(or o$ -+ite &i$e

I %a$e all t&e LDR$ of a $et are a2o0e t&e 2la%' $"rfa%e. fial o"t!"t 1ill 2e Hi+&,

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Figure No (e$(or o$ -+ite &i$e

T&e fial o"t!"t$ of all t&e $et$ 1ill 2e +i0e to t&e lo+i% %ir%"itry 1&ere t&e o0eet of Ro2ot i$

deteried a%%ordi+ to t&e re$!o$e fro t&e $e$or $et$,

THE LOGIC CIRCUITRY

T&e lo+i% %ir%"it i$ t&e a$ter %otrol "it of t&e Ro2ot, T1o NAND +ate IC$ (IC

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Figure output /rom (e$(or (et(

T&e otor$ 1ill o0e de!edi+ "!o t&e o"t!"t$ t&at it re%ei0e$ fro t&e $et$ of $e$or$, Fore#a!le t&e otor M@ 1ill 1or' oly 1&e t&ere i$ a o"t!"t fro A or 7 or it 1ill 1or' 1&e

t&e o"t!"t$ of all t&e $et$ i$ lo1, o it$ 7oolea e#!re$$io %oe$ to 2e

: : :

M8 ; A < B < 6A1 B1 C7

T&e otor M9 1ill 1or' oly 1&e t&ere i$ a o"t!"t fro A or if t&ere i$ o o"t!"t fro 7 ad

t&ere i$ o"t!"t fro C or 1&e t&e o"t!"t of all t&e $et$ i$ lo1, o 7oolea e#!re$$io for M9

%oe$ to 2e

: : : :

M= ; A < B1C < 6A1 B1 C7

No1 t&e$e 7oolea e#!re$$io$ %a 2e iii5ed "$i+ K-Ma! red"%tio et&od,

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Figure K'M%p re)u"tio$ /or M=

For Motor M= A < B < C

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Figure K'M%p re)u"tio$ /or M8

:

For Motor M8 A < B

T&e a2o0e-$i!lified e#!re$$io$ for t&e lo+i% %ir%"it %a 2e i!leeted i &ard1are "$i+ t&e

$o-%alled "i0er$al or NAND +ate$, Ay lo+i% %a 2e i!leeted "$i+ "i0er$al +ate$ ad $o for

%o0eie%e I 1ill "$e NAND +ate$, Here I 1ill "$e t1o IC$, T&ey are t&e NAND +ate IC-

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Figure T+e Logi" De(ig$ )eri*e) /rom NAND g%te IC(1

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,OWER SU,,LY

I 1ill "$e fo"r !o1er $"!!lie$ for t&e Ro2ot, T&ey all o!erate at differet 0al"e$ of 0olta+e$, T&eyare

B4 to t&e IC$,

9:4 to t&e LDR$,

64 to t&e Motor$,

9?4 to t&e LED$,

All t&e$e 0olta+e$ "$t 2e +i0e to t&ere %ir%"it$ ad all t&e +ro"d$ $&o"ld 2e $&orted to a

%oo +ro"d !otetial,

FUTURE SCO,E AND SUMMARY

T&e Lie Tra%er %a 2e f"rt&er %o0erted to a Mi%ro o"$e a Ro2ot. 1&i%& %a 2e ade to follo1

a !arti%"lar !at& i %ertai a!!li%atio re"iri+ &ar$& ad ia%%e$$i2le e0iroet,

i%e oly t&e e%&ai%al $tr"%t"re of t&e ro2ot eed$ to 2e %&a+ed for "$e i differet

e0iroet$. t&e lie tra%er %a 2e "$ed to oitor differet !araeter$ "der differete0iroetal %oditio$, It %a 2e "$ed to oitor %oditio$ li'e t&e ao"t of l"ia%e i a

area. t&e terrai. ad ot&er rele0at !araeter$,

It %a al$o 2e "$ed i %o*"%tio 1it& a %otrol $y$te to aaly5e ad !erfor a $!e%ified ta$' i

1&i%& %a$e it %a !erfor "lti-ta$'i+,

T&e lie tra%er i$ a $all 2"t !o1erf"l ad effe%ti0e ro2ot 1&o$e i!orta%e %a 2e *"$tified 2y t&e0ario"$ $et of a!!li%atio$. it %a 2e a!!lied ito. 1it& little odifi%atio of t&e e%&ai%al

ar%&ite%t"re,

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REFERENCES9, 8Defiitio of a ro2ot8 (DF), Da$' Ro2ot Forei+,

&tt!1e2,ar%&i0e,or+1e2@::, Harri$. To, 8Ho1 Ro2ot$ Wor'8, Ho1 t"ff Wor'$,

&tt!$%ie%e,&o1$t"ff1or'$,%oro2ot,&t,

6, 8Ro2ot (te%&olo+y)8, E%y%lo!aedia 7ritai%a Olie,

&tt!111,2ritai%a,%oE7%&e%'edto!i%B:B=9=ro2ot,

B, 8Real Ro2ot$ o t&e We28, NAA !a%e Telero2oti%$ ro+ra, 9-9:-9B,

&tt!raier,&,a$a,+o0telero2oti%$!a+erealro2ot$,&tl,

?, Ro2oti%$ ad A"toatio o%iety (RA) atIEEE,

&tt!111,ieee-ra$,or+

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9@, Lie Follo1er RO7OT, A1ard 1ier fro 4i+ea1 Co!etitio @B6>. t&e ro2ot 2"ilt

1it& @:B9. L@>D. ad fo"r IR $e$or$, i!le %ir%"it ad !latfor. "i%' tra%'i+ ad

Ea$y to "der$tad !ro+ra "$i+ C la+"a+e,&

&tt!111,'itl,a%,t&P'$1i%&itLFro2otLFro2ot,&t

9>, Wor'i+ of DC otor$

&tt!111,%ert,i%,i&tlleari+2a$'etele%tri%ityele%tri%itya%&ieotor,&t

&tt!111,!%-"$er,%o,"'d%-otor$,&t

&tt!e,1i'i!edia,or+1i'iEle%tri%otor &tt!rele%tri%al$,%oQ

ode?9

96, Wi'i li'$

&tt!e,1i'i!edia,or+1i'iRo2ot

&tt!e,1i'i!edia,or+1i'iRo2ot

&tt!e,1i'i2oo'$,or+1i'iRo2oti%$

&tt!e,1i'i2oo'$,or+1i'iRo2oti%$

&tt!e,1i'i2oo'$,or+1i'iRo2oti%$

9B, /LN @::>

&tt!111,alldata$&eet,%odata$&eet-

!df!df@BB,&tl

9?, LDR

&tt!e,1i'i!edia,or+1i'iLi+&tDe!edetRe$i$tor

&tt!111,do%troi%$,%o,"'ldr$e$or$,&t