Desktop Line Following Robot
|Line sensor||Six photo-reflectors|
|Two CR2032 lithium cells
(One is for controller, the other is for motors)
|Motor||Two micromotors for left wheel and right wheel|
|Dimensions||45(L), 33(W), 12.5(H) [mm]|
|Weight||15 grams (Body:8g, Cells:7g)|
|Performance||53 centimeters per second at oval course|
Recently many kind of robot contests have being opened and some interesting reports of the challenge are found on the web. Line Following is a kind of robot contests which measures running speed on the line. I built a tiny line following robot which can run on the desk-only moving the key board aside will do. It is for only a personal toy as it is reduced in size less than one fifth compared to typical line following robots. I believe that it is suitable for home use in small houses and apartments.
About Line Follower
The line follower is a self operating robot that follows a line drawn on the floor. The basic operations of line following are as follows:
- Capture line position with optical sensors mounted at the front end of the robot. Most competitors are using several photo-reflectors, and some leading contestants are using an image sensor for image processing. The line sensing procss requires high resolution and high robustness.
- Steear robot to track the line with any steearing mechanism. This is just a servo operation, any phase compensation will be required to stabilize tracking motion by applying digital PID filter or any other servo argolithm.
- Control speed according to the lane condition. Running speed is limited during passing a curve due to friction of the tire and the floor.