Line Estimation for a Line-Following Mobile Robot

Yufka A., AYBAR A.

9th International Conference on Electrical and Electronics Engineering (ELECO), Bursa, Türkiye, 26 - 28 Kasım 2015, ss.890-893 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: Bursa
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.890-893
  • Anadolu Üniversitesi Adresli: Evet

Özet

In this study, the coordinate of the line position for a differential drive line-following mobile robot is estimated by using the Minimum Variance Unbiased Estimator. Using the sensor data as an observation data and coordinates of sensors, a linear model for Minimum Variance Unbiased Estimator is constructed. MATLAB simulations for computing Root-Mean-Square-Error and Monte Carlo Simulations and real world data are used to analyze the performance of the estimator. Using the estimated value, a feedback for PID controller is used to compute deviation in order to make the mobile robot follow the line.