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Simplified Line Follower Model

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pasindu dissanayake
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22 views1 page

Simplified Line Follower Model

Uploaded by

pasindu dissanayake
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Simplified Line Follower Model

Control System (Simplified Explanation):


The control system ensures the robot follows the line accurately using a Proportional-Integral-Derivative (P
The PID controller adjusts the speed of the motors based on the error, which is the difference between the

PID Equation:
U(t) = Kp * e(t) + Ki * Integral(e(t) dt) + Kd * de(t)/dt
Where:
- e(t): Error signal (difference in position)
- Kp, Ki, Kd: Proportional, Integral, and Derivative gains.

This method ensures smooth adjustments to motor speeds, minimizing overshooting and maintaining stabi

Modeling and Simulation (Simplified Explanation):


The mathematical modeling involves:
1. Kinematics:
- Linear velocity (V) and angular velocity (w) determine the robot's movement.
Equations:
V = (Vr + Vl) / 2
w = (Vr - Vl) / L
Where Vr and Vl are the right and left wheel velocities, and L is the distance between the wheels.

2. Sensor Modeling:
Sensors detect the line's position and provide input to the control system.
Example: IR sensor output is proportional to light intensity.

Simulation:
Simulations are conducted using these equations to test performance under different scenarios, such as cu

Key Results (Simplified Explanation):


- The robot successfully followed the line with high accuracy under various test conditions.
- Performance metrics, such as speed, error minimization, and stability, were analyzed.
- Key Findings:
1. PID tuning significantly impacts performance (optimal values for Kp, Ki, Kd were determined).
2. Simulation results matched real-world behavior closely, validating the model.

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