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.

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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 : ………

Author’s Name : SHAMSUDIN BIN SANIP

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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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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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DEDICATION

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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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v 2.1.4 Autonomously Randomized Robot 8

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vi

2.7.4 Capturing an Image and Displaying Images 21

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vii

4.2.3 Design Selection Using Pugh Method 45

4.3 Hardware design 46

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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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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