Mobile Robot Navigation System Line Following Robot By Using PID Algorithm

Ling, Sing Yip (2015) Mobile Robot Navigation System Line Following Robot By Using PID Algorithm. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text (24 Pages) Mobile Robot Navigation System Line Following Robot by using PID algorithm.pdf - Submitted Version Download (910kB)

Abstract

According to the World Health Ranking 2011, it has ranked Malaysia as the top 20 countries with the most death causes of road accidents. Hence, autonomous navigation robot is to compromise and reduce the car accident. Conventional line following robot has slow response and the robot would not be able to follow the line smoothly and sometimes robot tends to move out from the track. This report will present a line following robot by using PID algorithm to track a line. The objective of this paper is to design a high speed and autonomous mobile robot that follows a line accurately by using PID algorithm. In this case, PID algorithm is used to reduce wobbling motion and rectify the error if it leaves the line. This particular robot is an autonomous robot which is able to follow a black line drawn on a white surface while maintaining a smooth tracking motion. Two experimental tests were proposed to achieve the objective of the project. Experiment 1 was conducted to test the performance of line following robot while moving at the high speed while experiment 2 to test the sensitivity of sensor which will impact the accuracy performance of the robot. Result from first experiment shown that the PID controller much faster and accuracy compares to P controller which only taken 1 Os to complete the track compared to P controller needed 14.lls. For accuracy test, the average error detected by PID controller is -0.7333 while for P controller is -1.0556. By implementing of PID controller closer to the desired value (zero) compare toP controller. Lastly, for experiment 2, it shows that the distance between the surface and sensor will affect the performance in term of accuracy of the sensor. The result shows that the sensor needs to locate 0.6cm from the surface to obtain optimum output.

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