Vision Navigation Based PID Control for Line Tracking Robot

Abstract

In a controlled indoor environment, line tracking has become the most practical and reliable navigation strategy for autonomous mobile robots. A line tracking robot is a self-mobile machine that can recognize and track a painted line on the floor. In general, the path is set and can be visible, such as a black line on a white surface with high contrasting colors. The robot’s path is marked by a dis-tinct line or track, which the robot follows to move. Several scientific contribu-tions from the disciplines of vision and control have been made to mobile robot vision-based navigation. Localization, automated map generation, autonomous navigation and path tracking is all becoming more frequent in vision appli-cations. A visual navigation line tracking robot should detect the line with a camera using an image processing technique. The paper focuses on combining computer vision techniques with a proportional-integral-derivative (PID) control-ler for automatic steering and speed control. A prototype line tracking robot is used to evaluate the proposed control strategy.