Line following for a mobile robot

Bradley O. Matthews; Michael A. Ruthemeyer; David Perdue; Ernest L. Hall

doi:10.1117/12.222714

3 October 1995 Line following for a mobile robot

Bradley O. Matthews, Michael A. Ruthemeyer, David Perdue, Ernest L. Hall

Proceedings Volume 2588, Intelligent Robots and Computer Vision XIV: Algorithms, Techniques, Active Vision, and Materials Handling; (1995) https://doi.org/10.1117/12.222714
Event: Photonics East '95, 1995, Philadelphia, PA, United States

Abstract

A mobile robot has been designed which incorporates line following, obstacle avoidance and speed control. The line following algorithm images two windows and locates the centroid of the brightest target in the window. From these two centroids and the knowledge that the points are in the ground plane, the equation of the line is developed. The angle of the line and minimum distance from the robot centroid are then calculated and used in the steering control. This robot was designed for the 1995 Automated Unmanned Vehicle Society/Society of Automotive Engineers contest and won first place in the design competition.

Citation Download Citation

Bradley O. Matthews, Michael A. Ruthemeyer, David Perdue, and Ernest L. Hall "Line following for a mobile robot", Proc. SPIE 2588, Intelligent Robots and Computer Vision XIV: Algorithms, Techniques, Active Vision, and Materials Handling, (3 October 1995); https://doi.org/10.1117/12.222714

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