Revised: 09 July 2021
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SB SC IR sensor NO. 0 0 0 0 0 0 1 1 0 1 0 2 0 1 1 3 1 0 0 4 (a) (b) Fig. (3) (a) The Control Board, (b) The Motor Board Desired location + _ PID Controller Motors IR sensors Location calculation AMR Fig. (4) the mechanism of line follower for the AMR IR0 IR1 IR2 IR3 IR4 Multiplexer INA SA SB SC ATmega32u4 Microcontroller Fig. (5) the connection of the IR sensors and ATmega32u4 controller via multiplexer 14 | Alwan, Green, Noori & Aldair PID controller is tuned by using PSO algorithm. The control action depends on the collected data from IR sensors. Figure 6 shows the description of the line follower algorithm. As shown in the Fig. 6 the AMR is located at the center of black line and the five IR sensors is represented by blue dots. In this case, just the IR2 reads logic 0 (black background) and the rest of IR sensors read white logic 1 (white background). Each sensor has weight value, as shown in Fig. 6, with higher values to the extreme ones providing higher control signals when higher deviation is detected. The weighted Current Location (CL) of the AMR is computed as follow: 𝐶𝐿 = ∑ ( 𝑟𝑒𝑎𝑑𝑖𝑛𝑔 𝑜𝑓 𝑖 𝑡ℎ 𝑠𝑒𝑛𝑠𝑜𝑟 ∗ 𝑤𝑒𝑖𝑔ℎ𝑡 𝑜𝑓 𝑖 𝑡ℎ 𝑠𝑒𝑛𝑠𝑜𝑟) 4 𝑖=0 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑠𝑒𝑛𝑠𝑜𝑟𝑠 𝑟𝑒𝑎𝑑𝑖𝑛𝑔 0 (1) According to the reading of IR sensors, the microcontroller generates the PWM control signal to the motor drive to control the steering angle of the AMR as shown in Table 2: TABLE 2 Different conditions for movement of AMR IR sensor reading Command Motion of Left Motor Motion of Right Motor 10001 Straight Forward Forward 11011 Straight Forward Forward 11111 Straight Forward Forward 10000 Turn Right Forward Backward 11000 Turn Right Forward Backward 11100 Turn Right Forward Backward 11110 Turn Right Forward Backward 00001 Turn Left Backward Forward 00011 Turn Left Backward Forward 00111 Turn Left Backward Forward 01111 Turn Left Backward Forward tải về 1.13 Mb. Chia sẻ với bạn bè của bạn:
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