Line tracing technique for smooth driving

Abstract

In this paper, a line tracing algorithm for a robot was developed. The line tracing algorithm uses the robot’s car attached camera to detect the black line. The steering angle of the robot car’s wheels is then adjusted according to the black line detected. The performance of the proposed algorithm was evaluated by using the simple line tracking. We found out that using this technique the robot car is having a smooth drive following the black line. This study involves both hardware and software: raspberry pi as the microcontroller for the hardware and C++ for the software.