Vision Navigation Based PID Control for Line Tracking Robot  

作　　者：Rihem Farkh Khaled Aljaloud 

机构地区：[1]College of Engineering,Muzahimiyah Branch,King Saud University,P.O.Box 2454,Riyadh,11451,Saudi Arabia

出　　处：《Intelligent Automation & Soft Computing》2023年第1期901-911,共11页智能自动化与软计算（英文）

基　　金：funding from the researchers supporting project number(RSP2022R474);King Saud University,Riyadh,Saudi Arabia.

摘　　要：In a controlled indoor environment,line tracking has become the most practical and reliable navigation strategy for autonomous mobile robots.A line tracking robot is a self-mobile machine that can recognize and track a painted line on thefloor.In general,the path is set and can be visible,such as a black line on a white surface with high contrasting colors.The robot’s path is marked by a distinct line or track,which the robot follows to move.Several scientific contributions from the disciplines of vision and control have been made to mobile robot vision-based navigation.Localization,automated map generation,autonomous navigation and path tracking is all becoming more frequent in vision applications.A visual navigation line tracking robot should detect the line with a camera using an image processing technique.The paper focuses on combining computer vision techniques with a proportional-integral-derivative(PID)control-ler for automatic steering and speed control.A prototype line tracking robot is used to evaluate the proposed control strategy.

关 键 词：Line tracking robot vision navigation PID control image processing OPENCV raspberry pi 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]