Revised: 09 July 2021
the performances of simulated mobile robot. II
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the performances of simulated mobile robot. II. L INE F OLLOWER M OBILE R OBOT The Line Follower Mobile Robot (LFMR) is an autonomous robot that can capture the desired path drawn on the floor. The LFMR is used many application such as military application, hospital services application, delivery services system, transportation systems and blindness helping systems. The LFMR uses several optical sensors (such as IR sensors) that are fixed on the front end of the robot to detect the existence of the drawn line. The operation principle of the IR sensor depends on the Planck’s radiation law [10]. The portions of reflection, absorption and scattering light depend on the color of the indecent surfaces. When the light ray falls on the black surface, the surface will absorb all the power of the light and no light will reflect back. Whereas, if the light ray is incident on white surface, the surface will reflect back all the amount of the light. For colored surfaces, some amount of the light absorbs and the rest reflects back. Figure (1) shows the operation principle of IR sensor. The IR sensor uses this principle to recognize the black line that is drawn on the white surface. The IR sensor has two main parts: LED (transmitter) and photodiode (receiver). The LED sends the light to detect the color on the surface under the robot. If large amount of the light return back to the photodiode that is mean the white surface is detected. While, if small amount of the light return back to the photodiode that is mean the black line is detected. The collected data from IR sensors will send to the microcontroller to generate the suitable control signals that is used to steer the LFMR and maintain it on the desired path. To stabilize the tracking motion, the PID controller is used. In this work, the Arduino Mobile Robot (AMR) is used. Figure (2) shows the out view of AMR. The AMR comes with a different types of sensors such as: a digital compass and five floor sensors and a two potentiometers. It also has two DC motors with built in motor drive. The Simulink Package for Arduino Hardware that is installed with Matlab Simulink is used to control all these sensors and actuators. The AMR has Leonardo (ATmega32u4) based boards: the Control Board (top) and the Motor Board (bottom) as shown in Figure (3). LED (transmitter ) LED (transmitter ) Photodiode (receiver) Fig. (1) The operation principle of IR sensor Photodiode (receiver) Fig. (2) The out view of AMR Alwan, Green, Noori & Aldair | 13 In this work, Simulink model is used to program and run the AMR as line follower by applying the line follower algorithm on the motor board and accessing the IR sensors and motors. tải về 1.13 Mb. Chia sẻ với bạn bè của bạn:
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