Design of a Control Approach to Assist the Performance of a Competitive Line Follower Robot

  • Johann S. J. C. C. Amorim CEFET/RJ
  • Jefferson H. O. Fernandes CEFET/RJ
  • Matheus S. Machado CEFET/RJ
  • André L. C. Canella CEFET/RJ
  • Milena F. Pinto CEFET/RJ

Resumo


This research describes the development of a control strategy to optimize a competitive line follower robot for standard races developed by a team of CEFET/RJ called WolfBotz. Therefore, all mathematical foundations and robot models, hardware, and electronics involved in the construction of the proposed prototype will be described, as well as the regulation used in the competitions in Brazil. A discussion regarding the calculation of the PID control parameters is also provided. From the results, it was possible to conclude that the angular PID control with the linear PID strategy provides good stability to the robot to perform the line tracking.
Palavras-chave: PI control, Education, Prototypes, Stability analysis, Regulation, Mathematical models, Hardware, Line Follower, PID, microcontroller
Publicado
18/10/2022
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AMORIM, Johann S. J. C. C.; FERNANDES, Jefferson H. O.; MACHADO, Matheus S.; CANELLA, André L. C.; PINTO, Milena F.. Design of a Control Approach to Assist the Performance of a Competitive Line Follower Robot. In: SIMPÓSIO BRASILEIRO DE ROBÓTICA E SIMPÓSIO LATINO AMERICANO DE ROBÓTICA (SBR/LARS), 19. , 2022, São Bernardo do Campo/SP. Anais [...]. Porto Alegre: Sociedade Brasileira de Computação, 2022 . p. 354-359.