Vision-Based Line Following Robot

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UNIVERSITI TEKNIKAL MALAYSIA MELAKA

VISION-BASED LINE FOLLOWING ROBOT

This report submitted in accordance with requirement of the Universiti Teknikal Malaysia Melaka (UTeM) for the Bachelor Degree of Manufacturing Engineering

(Robotic and Automation).

by

SHAMSUDIN BIN SANIP

B050810328

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UNIVERSITI TEKNIKAL MALAYSIA MELAKA

BORANG PENGESAHAN STATUS LAPORAN PROJEK SARJANA MUDA

TAJUK: Vision-based Line Following Robot

SESI PENGAJIAN: 2010/11 Semester 2

Saya SHAMSUDIN BIN SANIP

mengaku membenarkan Laporan PSM ini disimpan di Perpustakaan Universiti Teknikal Malaysia Melaka (UTeM) dengan syarat-syarat kegunaan seperti berikut:

1. Laporan PSM adalah hak milik Universiti Teknikal Malaysia Melaka dan penulis. 2. Perpustakaan Universiti Teknikal Malaysia Melaka dibenarkan membuat salinan

untuk tujuan pengajian sahaja dengan izin penulis.

3. Perpustakaan dibenarkan membuat salinan laporan PSM ini sebagai bahan pertukaran antara institusi pengajian tinggi.

4. **Sila tandakan (√)

SULIT

TERHAD

TIDAK TERHAD

(Mengandungi maklumat yang berdarjah keselamatan atau kepentingan Malaysia yang termaktub di dalam AKTA RAHSIA RASMI 1972)

(Mengandungi maklumat TERHAD yang telah ditentukan oleh organisasi/badan di mana penyelidikan dijalankan)

(TANDATANGAN PENULIS) Alamat Tetap:

Kg Parit Penghulu,

Mukin 4, Parit Sulong,83500 Batu Pahat, Johor

Tarikh: 18th May 2011

Disahkan oleh:

(TANDATANGAN PENYELIA)

Cop Rasmi:

Tarikh: 18th May 2011

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DECLARATION

I hereby, declare this report entitled “VISION-BASED LINE FOLLOWING ROBOT” is the result of my own research except as cited in references.

Signature : ………

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APPROVAL

This report is submitted to the Faculty of Manufacturing Engineering of UTEM as a partial fulfillment of the requirements of the degree of Bachelor Of Manufacturing Engineering (Robotic and Automation) with Honors’. The member of the supervisory committee is as follow:

……….. Mr. Mohd Nazrin bin Muhammad

Supervisor

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i

ABSTRACT

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ii

ABSTRAK

Saat ini, teknologi berkembang pesat termasuk pembangunan robot. Projek ini akan menjelajah teknologi aplikasi berasaskan visi untuk mengendalikan gerakan robot. Tujuan dari projek ini adalah untuk membangunkan garis visi yang berpusat robot berikut. Robot ini akan mengesan dan mengikuti garis gambar yang akan ditangkap oleh kamera yang melekat pada robot. Kamera yang digunakan untuk menangkap gambar garisan yang telah dipasang di bahagian atas robot. Selain itu, gabungan dari peranti keras (hardware) dan peranti lembut (software) memainkan peranan penting di sepanjang projek ini. Oleh kerana itu, salah satu tujuan daripada projek ini adalah menggunakan landasan C + + dan Visual Basic untuk memproses gambar garisan yg telah ditangkap.

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iii

DEDICATION

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iv

ACKNOWLEGEMENT

Assalamualaikum and I am grateful to God that finally I complete the PSM 1 and PSM 2 on building and designing a vision-based line following robot. First and foremost, I would like to express my appreciation and deep respect to my supervisor, Mr. Mohd Nazrin bin Muhammad for the guidance and encouragement through out the progress in completing this project.

Secondly, I want to thank my lovely mother and my late father because supporting me to continue this study. With prayers and moral support from both of them, I have gained strength to endure in this study. I also want to thank UTeM management especially from the Faculty of Manufacturing because they give me the opportunity to get more experiences and knowledge during the period of the research. Special thanks to my friends that share their idea and advice in completing my project. Their support and encouragement in my project have helped me in various aspects. Without their help, this project would very difficult to complete and it will take a long time to finish.

Finally, thank to my dear family that support me in various field such as fund, idea and moral in completing the project.

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TABLE OF CONTENT

ABSTRACT i

ABSTRAK ii

DEDICATION iii

ACKNOWLEGEMENT iv

TABLE OF CONTENT v

LIST OF FIGURES viii

LIST OF TABLE ix

1. INTRODUCTION 1.1 Background 1

1.2 Robots 3 1.3 Problem statement 4 1.4 Objective 4 1.5 Scope 4 2. LITERATURE REVIEW 2.1 Autonomous Robot 6

2.1.1 Manual Remote or Tele-op 7

2.1.2 Guarded Tele-op 7 2.1.3 Line-following Robot 7 2.1.4 Autonomously Randomized Robot 8

2.1.5 Autonomously Guided Robot 8

2.1.6 Sliding Autonomy 8

2.2 Line Following Robot 9

2.2.1 Attiny 2313 10

2.2.2 Microcontroller (PIC16F877A) 10

2.2.3 IR sensor 12

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vi

2.2.5 Motor Driver – L293D 13

2.2.6 Algorithm for Line Follower 14

2.3 Vision Based Hardware Setup 14

2.4 Vision Based Software Setup 15

2.5 Motors and Power Transmission 15

2.6 Wireless System Robot 16

2.6.1 RoboEye Wireless Vision System 16

2.6.2 R/C Snooper Robot 17

2.6.3 Surveyor SRV-1 BlackFin Robot 18

2.7 OpenCV 19

2.7.1 IplImage 20

2.7.2 Other structures 20

2.7.3 Image Parameter 21

2.7.4 Capturing an Image and Displaying Images 21

2.7.5 Resolution selection 22

2.7.6 Colour Thresholding – Fixed and Adaptive 22

3. METHODOLOGY

3.1 Mechanical Components 24

3.1.1 Motor 25

3.1.2 Base 26

3.1.3 The chassis and body 26

3.1.4 Battery 27

3.2 Electrical Component 28

3.2.1 Electronic Design 28

3.2.2 Sensor 28

3.2.3 SK40C-CYTRON 30

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vii

3.3 Programming Part 32

3.3.1 Visual Basic 32

3.3.2 C++ Programming 33

3.4 Process Flow Chart 34

3.5 Image Processing 35

3.5.1 Image processing flow chart 40

4. DESIGN AND DEVELOPMENT

4.1 Introduction 41

4.2 Body design 42

4.2.1 First design 42

4.2.2 Second design 44

4.2.3 Design Selection Using Pugh Method 45

4.3 Hardware design 46

4.4 Software design 48

4.4.1 Visual Basic 48

4.4.2 Mikro C and Proteus software 51

4.5 Electrical circuit design 52

4.5.1 SK 40C Circuit 53

4.5.2 Motor Driver – MD30B 54

4.6 Finishing development of line following robot 55

5. RESULT AND DISCUSSION

5.1 Introduction 56

5.2 Performance analysis 57

5.3 Problem solution 60

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viii 6. CONCLUSION & RECOMMENDATION

6.1 Conclusion 62

6.2 Recommendation 63

REFERENCES 64

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LIST OF FIGURE

FIGURE TITLE PAGE

1.1 Line following robot 2

2.1 Line Following Robot 9 2.2 IR sensor Placement 9

2.3 Comparator Board 9 2.4 Voltage Regulator Board 10 2.5 PIC16F877A Pin Configuration 11

2.6 Line Following Robot Circuit 13

2.7 Mobile Robot Configuration Systems 15

2.8 DC motor 16

2.9 RoboEye 17

2.10 R/C Snooper Robot 17

2.11 Surveyor SRV-1 BlackFin Robot 18 2.12 The visual description of thresholding types 23 3.1 DC Motor SPG30-XX by Cytron 25

3.2 Front and rear wheels 26

3.3 LiPo Rechargeable Battery 7.4V 1300mAH 27 3.4 The webcam sensor built in laptop 29

3.5 SK40C-CYTRON 30

3.6 CYTRON MD10B10A Motor Driver 31

3.7 C++ Programming 33

3.8 A photograph of sub-pixel display elements on a laptop's 36

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3.10 The reference point 37

3.11 A counter clockwise rotation through angle θ 37

3.12 The angle of new point 38

4.1 First design of robot 42 4.2 Side view 43

4.3 Top view 43

4.4 Second design of robot 44

4.5 Side view 44

4.6 Front view 45

4.7 The body line following robot. 47

4.8 The webcam located. 47

4.9 The base and body. 48

4.10 Four point detection at visual basic 49

4.11 Program for web cam declaration 50

4.12 Flow chart for operation in visual basic 51

4.13 Connection between computer and microcontroller 52

4.14 Program in MikroC 52

4.15 SK 40C 54

4.16 Line following robot 56

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LIST OF TABLE

TABLE TITLE PAGE

2.1 Table Specification of Microcontroller PIC16F877A 12

3.1 Technical specification of LiPo Rechargeable Battery 27 7.4V 1300mAH

4.1 Final Pugh Chart to Obtain the Best Design. 46 4.2 Function Label of SK 40C. 54

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