V.
C
ONCLUSION
The line follower algorithm is proposed for mobile robot to
drive it on the complex path. The simulator is used to test the
effectiveness of the proposed algorithm. The robust PID
controller is design for omitting the oscillation of the mobile
robot on the sharp bend. The PSO algorithm is used to select
the optimal parameters of PID controller.
The Arduino
Mobile Robot is used for implementing the practical system.
Simulink Support Package for Arduino Hardware is installed
to Matlab program for programming the AMR. The practical
and simulation results are prove that the propose line
follower algorithm and designed PID controller succeed to
drive the mobile robot on the complex path.
R
EFERENCES
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Fig. (9) The Error
Signal
Fig. (10) Control Signal
Fig. (11) The Angular velocity for the left wheel
Fig. (12) The Angular velocity for the right wheel
16 |
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