Line Follower Robot Research Articles

Development of path planning of line follower robot with obstacles avoidance based on particle swarm optimization

Research on robot path planning based on the PSO (Particle Swarm Optimization) method has been widely developed. PSO is one of optimization algorithm that aims to provide the best solution on the finding of shortest route by utilizing particle population movements. In this paper, we developed a line follower robot with obstacle avoidance based on PSO. The PSO is embedded into Arduino microcontroller to control the navigation as well as avoid the obstacles. The robot is programmed a start point on coordinate (1,1) and a destination point on coordinate (5,5). The robot performances to avoid the obstacles were tested by robot goes to destination point while obstacles were added to the route. The computation time and the shortest route distance of the robot to reach the destination point with and without obstacles have been compared.

Autonomous line follower robot with fuzzy based hybrid controller

The autonomous navigation problem is currently a popular research topic encountered in many different areas, from smart cars to automated warehouse operations. Autonomous navigation of robotic systems is examined in two basic areas, with and without external supports. Even if the robot uses external supports (like GPS, road signs, ground surface lines, barcodes etc.) or positioning itself with internal sensors (like gyro, IMU, etc.), it independently needs a control method to follow the desired route. When the widely used control approaches in the literature are examined, PID and fuzzy-based approaches are frequently encountered. They both offer advantages and disadvantages. Within the scope of this study, the positive aspects of both of control approaches are utilized and the hybrid control approach for a robot that can autonomously follow the ground line presented as an external reference is mentioned. The success of the approach was tested comparatively on an exemplary mobile platform. The applied results obtained experimentally showed that a more efficient fuzzy logic-based hybrid control method could be developed. In addition, the effect of the number of conditions in the rule table on the success of the hybrid control technique is shown in the study. It has also been experimentally demonstrated that the success of hybrid control approach with a limited low power consuming ARM based processor that is suitable to control most of lightweight mobile platforms.

Line Follower Robot Training and Introduction of Internet of Things (IoT) for Students in Jombang City

Background: During the Industrial Revolution 4.0, the Internet of Things (IoT) is the main pillar of people and machines connected to each other. It can be an intelligent system when combined with a robot. This is what underlies the importance of robotics and IoT training, especially to be introduced early on. Purpose: This activity aimed to improve students' knowledge and skills in technology. The target of this activity is high school students in Jombang City. Methods: It starts from the planning, implementation, and evaluation stages. Auditory, visual and kinesthetic techniques are used in this activity, which is in the form of interesting learning media such as power points, videos, as well as demonstrations and practices. Data collection techniques such as questionnaires, pre-test, and post-test, and running tests were carried out to measure the level of skills, knowledge, and satisfaction of participants. Results: A total of 85% of participants did not know about IOT and 83% of the participants already know what the robot. But only 17% ever make robots. Conclusion: After this activity the participants' understanding increased by 20%. Their skills also increased as evidenced by the participants programming themselves so that the robot can run well on the track.

Development of Line Follower Robot with Camera Surveillance System

This study describes the development of a line follower robot for a surveillance camera monitoring system. An effective closed loop control fuzzy logic algorithm is used to constantly correct wrong movements of the mobile robot using a feedback mechanism. The robot senses a black line on a white surface and endeavors itself accordingly to follow the track. A manual navigation system has also been designed to overrule the automatic navigation control of the robot to reposition itself back on the track whenever it strays from the path unintentionally. The fuzzy controller algorithm is an advanced method to ensure the line follower robot moves accurately on the track. It is a replacement control technique of traditional switching method. To fuzzifying the digital input data of four infrared sensor that detecting the line, the data is converted into error and delta error that represent the current and previous position of the robot relative to the line that it follows. There are nine base rules that have been created with two inputs which are error and delta error to the robot direction whether to go to the right, move forward or to the left. Then, for defuzzification, center of sum and centroid of area method have been used to calculate the defuzzied value using trapezium area formulae. Based on the comparison between both control techniques, it is found that the line following surveillance robot with fuzzy logic controller works faster than conventional switching method to complete the same task with the average oscillation length using the fuzzy logic controller is reduced to half.

Application Of The Concept And Monitoring Of Robot Line Follwer As a Prototype Of Pekanbaru Trans Metro Bus Towards The Revolution Industry 4.0 (Penerapan Konsep Dan Monitoring Robot Line Follwer Sebagai Prototipe Bus Trans Metro Pekanbaru Menuju Era Revo

Public transportation is a major part of developing an advanced and modern city. Progress in public transportation is needed to be planned and realized to deal with the development of the city together with population and economic growth. The use of the Trans Metro Pekanbaru bus transportation is not in line with the development and progress of the City of Pekanbaru, which wants to be a smart city, where the role of the Internet of Things (IoT) needs to be realized in building smart cities and currently the use of the Trans Metro Pekanbaru bus in Pekanbaru is still becoming a problem. it needs to be resolved like the Trans Metro Pekanbaru bus lane which still uses a shared lane which causes congestion and lack of good trafic regulations. Trans Metro Pekanbaru bus transportation is still weak in terms of arrival and departure times. Trans metro Pekanbaru has not yet been integrated in a system that can be monitored centrally through the application of an application system based on the Global Positioning System (GPS). To overcome this problem, it is necessary to have the Trans Metro Pekanbaru bus transportation in the form of a prototype line follower robot which is a solution to overcome this problem. The purpose of this research is to make the line follower robot as a trans-metro silmulation bus for Pekanbaru become a smart city that is able to serve and facilitate the public's need for public transportation towards the industrial revolution 4.0. Line follower robot is a robot that works by following a line in the form of a road such as a traf ic lane, where the robot works using photodiode sensors and ultrasonic sensors as proximity sensors so that it stops automatically at every stop or place where passengers rise and fall. Line follower robots are automatically controlled so programming code and fuzzy algorithms are needed. Line follower robots are also equipped with Closed Circuit Television (CCTV) to determine passenger conditions.

Pelatihan Pembuatan Robot Line Follower untuk Meningkatkan Pengetahuan Robotika pada Siswa SMK Negeri I Kramatwatu

Robotics is one of the right media to introduce the field of technology to students because it can help in the development of thinking, sharpening capabilities in thinking, and the ability to form concepts. The development of robot technology is currently experiencing a rapid increase so it is important for students to gain robotics knowledge to face challenges in the era of industrial revolution 4.0. But not all schools have the facilities and human resources for learning robotics. SMK Negeri I Kramatwatu in the Serang area are currently studying robot technology but only in theory, so the results are not effective. This Community Service activity is carried out as an effort to improve the knowledge and skills of students at SMK Negeri I Kramatwatu in the form of training in making Line Follower robots, a type of mobile robot whose mission is to detect and follow a guideline that has been created in the field of trajectories. Line Follower Robot was chosen as training material because this robot is one type of automatic robot that is not too complicated in its manufacture. In this training, the participants were divided into 4 groups, each guided by one mentor. The results of community service show students' enthusiasm and desire to obtain knowledge in making Line Follower robots. This can be seen when tested on robots that have been made by 4 groups of participants, namely from 4 groups of participants 3 groups have succeeded in making a Line Follower robot that can run automatically in following the trajectory

Stability Of Line Follower Robots With Fuzzy Logic and Kalman Filter Methods

Line Follower Robot is a wheeled robot that has two wheels on the right side and two on the left side that can follow the line automatically. The robot is designed to navigate and move automatically following a line made and this robot should be able to maintain its stability. This line follower robot uses fuzzy logic method with accelerometer and gyroscope. To gain a good noiceless accelerometer response, Kalman filter is used. Kalman filter can minimize the error of the box in the noice sensitive control and level of noise in sensor before entering the control system. The results shows that robots are succesfully balances then selves, though interruped.

Fabrication of Mobile Robot using PID

PID line follower is a mobile robot. The term PID stands for Proportional, Integral and Derivative. This paper describes the working of PID control and how it is implemented in the line follower robot to govern its motion. The mobile robot should follows the black or white line which is plotted on a surface by the help of IR sensor array. It consist of H-bridge circuit to drive the DC motors. These are all done by a pre-programmed ATMEGA16 microcontroller called arduino.

New Design of Line Maze Solving Robot with Speed Controller and Short Path Finder Algorithm

Line Maze Solving Robot is a modified line follower robot used to find the shortest path in a maze. The proposed algorithm, called Short Path Finder Algorithm, which consists of three modes, is implemented to the robot. Those modes are the search mode; the short path mode; and the return and path mode. An improved motor speed controller is applied to control the robot’s speed and to correct its movement so that it can follow the line. The controller is designed based on the PID one. The main parts of the robot are line sensors that detect the type and the shape of a line being passed, a minimum system of the Atmega32 Microcontroller which functions as a data processor and robot brain, a motor driver that serves as a supply of voltage to DC motors, and DC motors as a robot drive. Based on experiment results, the designed robot can find the fastest path from the finish to the starting line.

A formal approach to AADL model-based software engineering

Formal methods have become a recommended practice in safety-critical software engineering. To be formally verified, a system should be specified with a specific formalism such as Petri nets, automata and process algebras, which requires a formal expertise and may become complex especially with large systems. In this paper, we report our experience in the formal verification of safety-critical real-time systems. We propose a formal mapping for a real-time task model using the LNT language, and we describe how it is used for the integration of a formal verification phase in an AADL model-based development process. We focus on real-time systems with event-driven tasks, asynchronous communication and preemptive fixed-priority scheduling. We provide a complete tool-chain for the automatic model transformation and formal verification of AADL models. Experimentation illustrates our results with the Flight control system and Line follower robot case studies.

Mobile Robot Platform with Arduino Uno and Raspberry Pi for Autonomous Navigation

Abstract Mobile robots represent a very attractive and multidisciplinary field with a lot of applications and scientific research possibilities. The development of microcomputers, single board computers and embedded systems has helped to deploy low-cost solutions for this domain. In this paper is proposed such a low cost mobile robot platform with fixed four wheel chassis, commended by Raspberry Pi and Arduino Uno interfaces. The mobile robot has the ability to move into 2D environments as line follower robot with mapping, navigation, and obstacle avoidance features. The platform contains also one degree of freedom (DOF) robotic arm for lifting and transport of the obstacles.

Low Pass Filter Applied to Color Sensor of Line Follower Robot

We propose a method for reducing the light noise of color sensor by integrating the Low Pass Filter (LPF) on color sensors of line trace robot. The proposed method is able to reduce the blinking of the fluorescent lamp’s noise and smooth variation in the color sensor. The light noise reduction is composed of two steps: pre-acquiring color sensor values (white standard value, black standard value) at various points of the course and normalizing sensor value from various points in the course.

Design of Digital Control System for Line Following Robot

Abstract Design of mobile robots has become an increasingly growing trend in the technology of modern times. They are very attractive engineering systems, not only because of many interesting theoretical aspects concerning kinematics, intelligent behavior and autonomy, but also because of applicability in many human activities. A typical example is the line following robot (LFR). In order for a LFR to function effectively, it must demonstrate excellent line tracking control. This is achieved by having accurate and responsive control algorithms as well as high precision color sensor systems. This paper proposes a system to show that good line tracking performance can be achieved with moderately simple digital control algorithms. The platform used is a differentially driven wheeled robot constructed using the Lego Mindstorms components. The simulation models are presented and analyzed using MATLAB Simulink. The main programming environment is the EV3 Software.

マイコンを用いた自走ロボット工作授業の展開(3)-鉛フリーはんだによるマイコン基板工作の実践-

マイコンを用いた自走ロボット工作授業の展開(3)-鉛フリーはんだによるマイコン基板工作の実践-

An ultra‐low cost line follower robot as educational tool for teaching programming and circuit's foundations

AbstractIn this paper, an ultra low‐cost line following robot is presented. The robot is developed through the integration of free educational software and low cost electronics and mechanical devices with the aim of been used as a teaching and learning tool to increase the students confidence/performance and interest in engineering areas. The cost for building this robot‐based educational tool and its related activities is less than 25 USD. Students were encouraged for building its own unique designs using cardboard and open‐source software and hardware. The activities promoted the increase in knowledge and developed student's technical skills such as the use of electronic circuits and sensors, three dimension designs, learning to programming animations and microcontrollers, building self‐made structural and mechanical elements using cardboard and the use of the Bluetooth protocol to achieve the interconnection of devices through the use of an Android based Smartphone. The activities have been developed to allow students to apply and test their own ideas and concepts for solving problems through the computational thinking process and finding digital solutions through programming microcontrollers, all of them in the frame of the maker movement and the inclusion of the arts in the science, technology, engineering and mathematics (STEM) education. The results of confidence/performance and interest evaluation tests allowed to identify the main areas of gain knowledge and the increasing interest in the engineering fields presented in this work.

Cancer Detecting Nanobot Using Positron Emission Tomography

The current Indian population is 1.29 billion out of which the occurrence of cancer is estimated to be around 2.6 million with over 9,00,000 new cancer patient and 6,50,000 cancer related deaths occurring every year. About 70% to 80% of the current patient diagnosed in advanced stage accounting without proper medications.More than 7% of deaths in India are due to various types of cancers which contribute to 8% to 10% of global cancer mortality. To lead a step to reduce this rate, this work aims to design a nanobot (nano robot) which can effectively identify the cancer growth using the concept called Positron Emission Tomography that comes under the branch of Acoustic Bio-Signalling.The simulation of the robot will be presented through ― robot simulation software‖ where the tracking is done through embedded programming, so as to configure its movement and requirements through every cycle of ― change of state‖.A prototype of the Nanobot is constructed through hardware with the help of robot-specific apparatus and with the same norms of a line follower robot.

Prototype Mesin Pengantar Barang Otomatis Menggunakan Load Cell Berbasis Robot Line Follower

Overloaded condition in the product porter like hand pallet, hand stacker, forclift, and etc, can causes damage and terrible accident in the machine operator. This research aim to build a prototype of porter machine that can prevent overloaded condition through the reading of load cell and photo diode sensor to guide the line follower direction. Research and development methods are used with the systematic writing are background of study and problems, prototype design and validation, testing, taking and analysis of the data. Output of the research is a prototype of porter machine using load cell sensor based on line follower robot. The Result of the load cell reading is compared to SF-400 weigher, and found the difference amount 0.117%. The load testing data of automatic moving trigger is 1 gram until 2999 gram. The Overload condition warning is active while the load is more than 3000 gram. The data reading of the photo diode on the black line is running succesfully, however on the white line with orange color is found some error.

Line Follower Robot Optimization based Fuzzy Logic Controller Using Membership Function Tuning

The study was aimed to measure the performance of Fuzzy Logic Controller (FLC) on Line Follower Robot (LFR). FLC output is a deviation value of Pulse Width Modulation (PWM) to determine the rotational speed of the left and the right wheel. As input variables are current and previous line sensors. Tuning was applied to input and output variables in each membership function (MF) to conduct the best performance. This study used triangular membership function that consists of three MF. Mamdani Fuzzy Inference System (FIS) is used using nine rules. The result obtains that after MF tuning, the performance of the LFR settling time is 0.63s faster compare to that without tuning.

Control of motion stability of the line tracer robot using fuzzy logic and kalman filter

Setting of motion and balance line tracer robot two wheels is actually a combination of a two-wheeled robot balance concept and the concept of line follower robot. The main objective of this research is to maintain the robot in an upright and can move to follow the line of the Wizard while maintaining balance. In this study the motion balance system on line tracer robot by considering the presence of a noise, so that it takes the estimator is used to mengestimasi the line tracer robot motion. The estimation is done by the method of Kalman Filter and the combination of Fuzzy logic-Fuzzy Kalman Filter called Kalman Filter, as well as optimal smooting. Based on the results of the study, the value of the output of the fuzzy results obtained from the sensor input value has been filtered before entering the calculation of the fuzzy. The results of the output of the fuzzy logic hasn’t been able to control dc motors are well balanced at the moment to be able to run. The results of the fuzzy logic by using membership function of triangular membership function or yet can control with good dc motor movement in order to be balanced

Cancer Detecting Nanobot using Positron Emission Tomography

The current Indian population is 1.29 billion out of which the occurrence of cancer is estimated to be around 2.6 million with over 9,00,000 new cancer patient and 6,50,000 cancer related deaths occurring every year. About 70% to 80% of the current patient diagnosed in advanced stage accounting without proper medications.More than 7% of deaths in India are due to various types of cancers which contribute to 8% to 10% of global cancer mortality. To lead a step to reduce this rate, this work aims to design a nanobot (nano robot) which can effectively identify the cancer growth using the concept called Positron Emission Tomography that comes under the branch of Acoustic Bio-Signalling.The simulation of the robot will be presented through “robot simulation software” where the tracking is done through embedded programming, so as to configure its movement and requirements through every cycle of “change of state”.A prototype of the Nanobot is constructed through hardware with the help of robot-specific apparatus and with the same norms of a line follower robot.