Here I have designed a light weight line follower based on differential wheel drive using Atmega8 and 5 IR pairs. The IR pairs can distinguish between black and any other light color easily ie they provide a nice clean digital output when subjected to varying shades of color. Hence the have been used to detect the the track (black) and the background (light brown).
The system moves using 2 small DC motors (roughly 100 RPM 9V). I have used Zeigler Nicholas algorithm on this circuit to tune the control parameters. The PID system employed on the line follower adapts to new environments by resetting its Kp Ki and Kd everytime the system is turned on. We have obtained some amazing results and are still trying to improve the speed of the robot without comprising the accuracy of motion.
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