LINE FOLLOWING ROBOT

WITH IR 5-CHANNEL
USING PID CONTROL

PREPARED BY:

ALI RAZZAQ (FA22-BEE-006)

ABDUL RAFEH (FA22-BEE-042)
BAKHTYAR KHAN (FA22-BEE-045)

SUBMITTED TO:
ABUBAKAR TALHA JALIL

DEPERATMENT OF ELECTRICAL AND

COMPUTER ENGINEERING,
CUI LAHORE
A PID Controller Rule-Based Control System for Fast
Line-Following Robots
This paper focuses on the optimization of the line-tracking and following control
technique used in high speed autonomous movable devices such as line-following
robotic vehicles. A fusion of a new pro-active / feed-forward control system, based on
the simultaneous use of computer vision and the use of an array of analog infrared
reflective phototransistors with an optimized PID based feed-back implementation is
proposed.

An New Proportional
Autonomou Navigati Integral Comput
s Robot on Derivative er
Techniqu (PID) Vision
e
The Custom Line-Following Robot
To highlight the proposed approach a custom robotic vehicle was developed.

We have used off-the-shelf components

aiming on developing a low cost, very low
computationally demanding, agile
lightweight vehicle (less than 0.5 kg),
capable of performing autonomous
navigation by fusing the information from
different sensors and processing it on board,
using a lightweight algorithm that can be
used in any kind of similar or up-scaled
platform.
The Custom Line-Following Robot
To highlight the proposed approach a custom robotic vehicle was developed.

For the data For the

The core of the To optimally align
acquisition a Pololu differential drive
system is an the chosen
QTR-8A Analog system 2x16mm
Arduino UNO Infrared-reflective components
board with a low 12-volt 5000 RPM we`ve designed
phototransistor 5
end 16MHz sensor array used.
DC motors, with a and
ATmega328P stall current of manufactured a
microcontroller. 2.5 Amps each custom Printed
were integrated. Circuit Board
(PCB)
 Proposed Navigation Algorithm
The overall PID control function can be
expressed mathematically as :

A PID-only controller can be used to

robustly track and follow simple paths up
to speeds of around 0.2 meter per
second. In several cases, the classical PID
controller leads to line loss due to
extreme changes in the path curvature.
One can visualize how the PID-only
controller, due to its feedback
dependency, can suffer from accidental
line loss.
 Proposed Navigation Algorithm
We propose a new algorithm that combines the advantages of the PID Ruled-Based
approach.

Our proposed method strives to correct

these limitations by adding an
Several researchers
anticipatory control, via the addition of have proposed
applying a visual
an input from a new feed-forward system The ability to be
system to
pro-active can aid in
that can greatly enhance the ability of the manipulation of
autonomous
vehicles to capture
the PID controller to react timely in fast the speed of the
and analyze the
line-following
non-linear deviations from the set-point. vehicle
visual images to
overcome the
limitations of other
sensors
 Proposed Navigation Algorithm
We propose a new algorithm that combines the advantages of the PID with the benefits
of a visual system using a Fuzzy Ruled-Based approach.

Consider a robot towards achieving the

objective of line-following. For ease of
understanding, it is assumed the
augmented decision vector:
S1….S5 takes into account only the
IR array measurements. In general,
The optimal Xk vector in the proposed the proposed method follows sensor
control strategy can be straightforwardly to manipulate the steering
derived from: parameters, while sensor
manipulates the speed parameters
of the robot and selects an optimal
set of Kp, Ki, Kd parameters for the
desired speed.
Proposed Navigation Algorithm
We propose a new algorithm that combines the advantages of the PID with the benefits
of a visual system using a Fuzzy Ruled-Based approach.

F1 uses as input the infrared reflective

phototransistors' measurements and in the case
of absence of input from the camera, based on
a traditional PID controller, calculates safe
steering and speed parameters.
In the presence of input from the camera F2
selects a more suitable set of PID parameters
and speed for various cases and lengths of line.
 Proposed Navigation Algorithm
We propose a new algorithm that combines the advantages of the PID with the benefits
of a visual system using a Fuzzy Ruled-Based approach.

To visually detect
the position and the
In our implementation, the output of the length of the line,
F2 is based on a fuzzy interface. the proposed
architecture uses a
Pixy2 vision sensor.
The first input of the fuzzy system X1
corresponds to the current maximum
speed of the motors.
Our algorithm
The second input of the fuzzy system X2 identifies all the
other lines in the
is related with the length of the detected image and
line. calculates their
intersection point
 Proposed Navigation Algorithm
We propose a new algorithm that combines the advantages of the PID with the benefits
of a visual system using a Fuzzy Ruled-Based approach.

A set of triangular membership functions

fuzzifies each X score.

Sequentially, the fuzzy inputs are combined

using a list of 6 rules for producing the fuzzy
output of the system.

The final crisp output is produced using the

centroid defuzzification method.

F2 shapes on the one hand the basic speed of

the robot at each iteration while on the other
hand provides the optimal Kp, Ki and Kd
parameters for F1.
 Experimental Setup
Experiments were conducted on a track of a black line on a white surface. The track
was designed and printed on a 300X300 cm glossy PVC material, so it could be as
slippery as possible.

The total black line (path) length was 20m

long. The path was selected to be as close
to real-world applications, consisting of
complex line structures such as acute
turns, intersections, a loop and at places
single or consecutive 90 degree turns.

To evaluate the proposed methodology we

constructed 4 identical systems: A
traditional PID line-following algorithm
navigation robot, a PID with an EDF line-
following robot, the proposed method
navigation robot and the proposed method
navigation robot with an EDF.
Thank
you