Abstract

The Line Following Robot, designed and implemented for Technoxian 2022, is a mobile robot that autonomously follows a designated path using infrared sensors to detect a line on the floor. The implementation includes a Proportional-Integral-Derivative (PID) controller for precise control, and the project achieved notable success, securing a ranking in the top 15. This document provides an overview of the robot's structure, components, and the PID-based code that contributed to its success.

Solution

To overcome these challenges, we decided to use an Arduino board as the brain of our bot. We also used LSA08 line sensors, which allowed us to accurately detect lines on the ground. For motors, we chose 600 rpm N20 motors, which provided us with the speed and power we needed.

We then implemented a PID (Proportional Integral Derivative) algorithm, which allowed us to control the speed and direction of our bot based on feedback from the line sensors. This ensured that our bot could accurately follow lines while also avoiding obstacles.

Programming(Github link):

PID controller constants (Kp, Ki, Kd) were set to achieve optimal performance.
The code includes functions for calibration, forward motion with braking, and PID control.
Motor speed adjustments are implemented based on PID output.

Impact(Top 15 certificate):

The Line Following Robot, equipped with PID control, demonstrated outstanding performance in the Technoxian 2022 competition. The precise line following, calibration functionality, and efficient motor control contributed to securing a notable ranking in the top 15. The success of this project highlights the effective integration of mechanical design, sensor technology, and advanced control algorithms.

Learnings:

Advanced Sensor Integration:
- Integration and calibration of infrared sensors for accurate line detection.
- Understanding sensor characteristics and choosing appropriate models for the application.
PID Controller Implementation:
- Fine-tuning PID constants (Kp, Ki, Kd) for optimal control.
- Implementing PID control logic for smooth and precise robot movement.
Effective Motor Control:
- Understanding motor characteristics and selecting suitable motors for the application.
- Implementing motor control functions for forward motion and braking.
Competition Strategy:
- Developing a strategy for calibration, line following, and speed adjustment based on competition conditions.
- Considering factors such as friction, turning, and speed limitations for effective performance.

Conclusion

In conclusion, the Line Following Robot project for Technoxian 2022 demonstrates a successful integration of mechanical design, sensor technology, and advanced control algorithms. The project's ranking in the top 15 reflects its effective implementation and the team's comprehensive understanding of robotics principles.
You can find the documentation over here.

Advanced Line Following Bot Wins Competition