This robot moves between the two parallel white lines on a black surface and detects obstacles on its path.

The robot uses 2 CNY70 sensors in order to detect the white lines and an IR sensor to detect the obstacles on the path.

When the robot sees an obstacle on its road, it stops and waits until the obstacle is removed.

It has two 6 V geared DC motors, two wheels and a caster ball wheel.

The robot was powered by a 9 V alkaline battery.

PIC16F628A was used as microcontroller for the robot.

L293D motor driver was used for the driving of the DC motors.

Motors were driven by differential drive system.