Line Estimation for a Line-Following Mobile Robot

Yufka A., AYBAR A.

9th International Conference on Electrical and Electronics Engineering (ELECO), Bursa, Turkey, 26 - 28 November 2015, pp.890-893 identifier

  • Publication Type: Conference Paper / Full Text
  • City: Bursa
  • Country: Turkey
  • Page Numbers: pp.890-893
  • Anadolu University Affiliated: Yes


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.