Proportional-Integral-Derivative Line Tracker Using Raspberry Pi

Abstract

Controlling devices and systems are essential in modern times, especially when robots do important and dangerous jobs accurately. The main goal of this project is to make an economic control system, with high measures of safety, can be used by a normal person without any complications. Line Follower Robots are self-instructing robots, their main purpose is to follow a certain line and never go out of track. Usually, this line is a black colored line. The principle of those robots depends on the reflection of light for the two different surfaces. The reflection is measured through an infrared sensor. Then a controller processes this data to guide the robot on the right track. This robot solves a lot of problems like unnecessary-time wasting labor work in assembly lines, factories and mass storage facilities. The problem with this robot is it takes a long time to do it’s required job, due to its uneven movement and tracking. And it goes out of bounds a lot, also it can’t turn on tough corners. Solution to this problem is to enhance its input data, response, processing and structure. This concept was tested in various conditions and proved to be successful with satisfying results.