# Development of a Line-Follower Robot for Robotic Competition Purposes

### 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 opti- mize its performance in standard races. In this paper we propose a SISO angle control scheme based on the relation between estimated line posi- tion 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.

Type
Publication
Communications in Computer and Information Science
Date
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