Development Of Control Algorithm For Freescale Cup Line Following Robot

Sukuri, Sulo (2014) Development Of Control Algorithm For Freescale Cup Line Following Robot. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text (24 pages) Development Of Control Algorithm For Freescale Cup Line Following Robot 24 Pages.pdf - Submitted Version Download (446kB)

Abstract

Line following robot also called as autonomous or smart car is a project design to compete in Frescale cup. It have line scan camera that used to detect the condition of the black line in front of the car and track the line until the end of the racetrack. All of the related algorithms of the control system will be programmed in the Freescale 32-bit MCU unit by using C language including a steering servo motor control and two speed dc motor control for right and left rear wheels. However there are some constraints of this design for example the speed is not stable because even though the Pulse Width Modulation (PWM) has been set from the MCU unit but it still totally depends on the capacity of the battery where it is decreases over the time. Another speed sensor needed is called as Encoder to detect the actual speed of the wheels. Since there are different size and types of curve in a racetrack, the line follower robot also is designed so that the speed is controllable according to the condition of the racetrack. The algorithm will includes all of the control system for the speed of the wheels, the movement of the servo, the camera, and encoder processing. All of the solutions are designed to improve the speed of the line follower robot to complete one lap for any type racetrack as fast as possible and also not violating the rules that has been set by the organizers.

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