Line Follower with Obstacle Information System Using ZigBee

In this paper Firebird V robot follows white line on a black surface. On Firebird V three white line sensors (Left, Centre, Right) for detecting white line. When obstacle comes in robot path then robot stops and buzzer get on for alertness and sends message wirelessly to PC via ZigBee i.e. “Obstacle is present”. Here Sharp IR range sensor is used for obstacle avoidance and motion of robot is handled by DC (Direct Current) Motors. PWM (Pulse Width Modulation) is used to control the speed of motor. We measured variation in voltages of Sharp IR range sensor and IR proximity sensor as distance between obstacle and sensor varied and voltage levels of white line sensor on white line and black surface. We also measured RSSI (Received Signal Strength Indicator) at various distance using XCTU software and we observed that RSSI value get decreases as distance increases.