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Smooth track-keeping and real time obstacle detection algorithm and its PID controller implementation for an automated wheeled line following robot

conference contribution
posted on 2024-10-02, 23:02 authored by M Rokonuzzaman, SM Ferdous, EG Ovy, MA Hoque
Line following automated robots is extensively used in industries for smooth running of production. This paper presents a simple and effective solution for path tracking problem for a wheeled automated mobile robot which can be used for material handling in industries. A PID controller has been used for controlling the robot which is capable of moving safely by smooth track-keeping in partially structured environment without any collision with static or moving objects. The purpose of the project is to build a mobile robot which will provide fast, smooth, accurate and safe movement in any given line or track. A straight or wavy line would be simple to follow whereas aT-junction, 90 degree bends, acute angle bends and grid junctions would be difficult to navigate through. This is due to the physical kinematics constraints which are limited to motor response, position and turning radius of the robot. A line sensor configuration has been proposed to improve the navigation reliability of the mobile robot which uses differential drive system. A dynamic algorithm has been developed for detecting and following a specified line which ensures the reliable and safe movement of the robot.

History

Volume

201-203

Pagination

1966-1971

Location

Guilin, China

Start date

2011-04-09

End date

2011-04-11

ISSN

1022-6680

eISSN

1662-8985

ISBN-13

9783037850398

Language

eng

Publication classification

E1.1 Full written paper - refereed

Editor/Contributor(s)

Yang DG, Gu TL, Zhou HY, Zeng JM, Jiang ZY

Title of proceedings

AMR 2011 : Proceedings of the 2nd Manufacturing Science and Engineering International Conference

Event

Manufacturing Science and Engineering. Conference (2nd : 2011 : Guilin, China)

Publisher

Trans Tech Publications, Ltd.

Series

Advanced Materials Research