1. LINE FOLLOWING USING MAZE SIMULATOR

2. CONTENTS
 Objective
 Background
 Classification
 Development And Integration
 Software
 Hardware And Mechanical Model
 Application
 Conclusion
 Future Recommendations

3. OBJECTIVE
 To create an autonomous vehicle, which able
to move along the given path, extracted
using the maze simulator.

4. BACKGROUND
 What is Autonomous?
“A machine which is able to perform its task, without
continuous interference of human being”.
(ref. ‘Wikipedia’)
 What is Maze Simulator?
“A tool that used to build an environment with various type of
walls, by editing image file and extract the path from the
maze in image(ref. ‘social.msdn’)

5. CLASSIFICATION
AUTONOMOUS
VEHICLE
DRIVE
TECHNOLOGY
Electric Hydraulic Point-to-Point Continuous
MOTION CONTROL
APPLICATION DOMAIN APPLICATION
AREAS
Industrial Non Industrial

6. DEVELOPMENT AND INTEGRATION
DEVELOPMENT AND
INTEGRATION
SOFTWARE INTERFACING
MECHANICAL COMPUTING

7. SOFTWARE

8. SOFTWARE (ALGORITHM)
Starting
Point
Ending Point
Obstacle
Path

9. SOFTWARE (ALGORITHM) (CONT…)
All the Nail of
adjacent nodes
pointing towards its
parent node.

10. SOFTWARE (ALGORITHM) (CONT…)
Parent
Value of
F
Value of
G
Value of
H
Point to its
Parent

11. SOFTWARE (ALGORITHM) (CONT…)
Checking For Path One by One

12. SOFTWARE (ALGORITHM) (CONT…)
Selecting New Parent
Which Square
Will be
Selected?
(Both have
same
Cost (F))
Path 1: (F)
40 + 60 = 100
Path 2: (F)
54

13. SOFTWARE (ALGORITHM) (CONT…)

14. SOFTWARE (ALGORITHM) (CONT…)
Path

15. PROGRAM SIMULATION
Loading
ImageDraw
ObstacleRemove Obstacle
Start Point
End Point
Export
Results
RUN

16. ARCHITECHTURE AND INTERFACING
Based on the working requirements and output
of machine it comprises following units:
Motors
Motor driver
Mechanical model
Controller Board

17. DC GEARED MOTORS
Motors are the muscles of machine. Two
types of motors can act as muscles of
machine
DC motors
DC Geared motors
Why DC Geared Motors?
We need extra precision and accuracy in
design
We need to stop the movement with exact
point on path

18. MOTOR DRIVER CIRCUITRY (L298)
 In order to drive DC motors, motor driver
circuitry drives the motors
 Driver circuitry needs at input
a) Clock (PWM)
b) Direction (Logic)
c) Enable

19. ADVANTAGES OF DC GEARED OVER SIMPLE DC
 A DC geared motor provides accuracy
 It respond excellent to starting and stopping
of wheels
 Feed back mechanism using Encoders
 It has higher torque with low rpm, which is
needed

20. MOTOR DRIVER CIRCUITRY
 Driver circuitry gives at output, phase
sequences which can be half step, full step one
phase or full step two phase sequence
Why L298?
 Only need to play with two (direction and clock)
pins of l298
 It can handle both full step and half step modes
 With l298 dual bridge, motors up to 2A winding
current can be used

21. L298 BLOCK DIAGRAM

22. DRIVER
If y(i+1)>y(i-1) M1= ON
M2= OFF
Moves up in Y
If y(i+1)<y(i-1) M1= OFF
M2= ON
Moves down in Y
If x(i+1)>x(i-1) M1= OFF
M2= ON
Moves forward in X
If x(i+1)<x(i-1) M1= ON
M2= OFF
Moves reverse in X
Else Both Motors M1 & M2 will remain ON, and vehicle will move forward.

23. MECHANICAL
 Mechanical Portion:
Our mechanical portion consist of four
wheel trolley, rear wheel are being
driven with help of DC motors while the
front wheels will just support the rear
wheel and will move according to the
RPM of rear wheels.

24. MECHANICAL
 Advantages
 No use of Sensors
 Rotation of Robot depends on Rpm of
rear wheels
 Coordinates are known to Robot before
its start to move

25. MECHANICAL
 Disadvantages:
 Overweight
 Rotation is not precise sometimes

26. FUTURE ENHANCEMENTS
 Distance Sensing
 Position Logging & Tracking
 Continue its path with obstacle
avoidance

27. CONCLUSION/OUTCOME
 The Robot follows the line as directed
 It Effectively overcome the problems
such as Line Break
 The hardware and software work as
designed

28. RECOMMENDATIONS
 Alternate better software.
 Camera Interfacing Using DSP
 Sensors For Tracking Accurate
 Trimming the real time image

29. VIDEO OF HARDWARE