Abstract
A fast line follower is an intelligent robot that must detect and follow a line drawn on a surface with possible changes of inclination. The robotics competitions demand that the robot go over a racetrack in the shortest possible time. The purpose of this paper is to study the line follower robot from the Control Engineering point of view to optimize its performance in standard races. In this paper we propose a SISO angle control scheme based on the relation between estimated line position and yaw robot angle. A sensitive position estimation respect to the line was implemented to improve the provided information interpretation from infrared array sensors respect to the conventional robots. Finally a suction turbine engine and a guarantee action algorithm were added to improve the angle controller response at high speeds and loss of grip on the wheels.
Our source implementation is freely available online and can be obtained from https://github.com/HaroldMurcia/LineFollower.git.
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Acknowledgments
This research is being developed with the partial support of the “Gobernación del Tolima” under “Convenios de cooperacion 1026–2013” - Research Culture and “Convenio No 055-17”. The results presented in this paper have been obtained with the assistance of students from the Research Hotbed on Robotics (SIRUI), Research Group D+TEC, Universidad de Ibagué, Ibagué-Colombia.
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Murcia, H., Valenciano, J.D., Tapiero, Y. (2018). Development of a Line-Follower Robot for Robotic Competition Purposes. In: Figueroa-García, J., Villegas, J., Orozco-Arroyave, J., Maya Duque, P. (eds) Applied Computer Sciences in Engineering. WEA 2018. Communications in Computer and Information Science, vol 916. Springer, Cham. https://doi.org/10.1007/978-3-030-00353-1_41
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DOI: https://doi.org/10.1007/978-3-030-00353-1_41
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