Line Following

Author:

Antonio Paolillo and Luca Vallone

Date:

2009-11

This work consists in a simple control allowing a mobile robot equipped with ground sensors to track a line on the ground. It is possible to employ two kinds of control (base and adaptive) by setting some particular parameters. For a detailed description of the options see the task LineFollowing.

The robot KheperaIII following an eight-shaped line.

Line Following on KheperaIII

Brief description

Compile mip for ARM and copy on the kheperaIII you want to use, in the folder /root/2ndFlash. Copy the file MIP_HOME/main/resTaskFile/lineFollow/lineFollowKh3.txt in the same folder using scp command and modify it inserting the right Id in the -id field.
Then, execute in a shell:

$ ssh root@192.168.0.10<id>
$ cd ../2ndFlash
$ ./mip -resTaskFile lineFollowKh3.txt

The commands are:
Command 'c' starts line following control.
Command 'p' stops control.
Command 'e' allows to exit from the software.

Detailed description: how to recreate the environment.

It is possible take into account different shapes of track. In order to optimize the control is advisable to consider a graduate line characterized by the following features:

• a black central arc 1.2 cm width;
• two lateral arc, each one 0.9 cm width, with brightness that becoming smaller approching the border of the track.
  

The comands line that allows the robot to consider this kind of track is the following:

-lineFollowingLineSlope 416000.000000 -lineFollowingColourValue 130.0 

If you want to run base control on the mobile robot KheperaIII it's necessary write these commands on the shell:

-lineFollowingControlType 1 -lineFollowingGain 200 

If you want to run adaptive control KheperaIII then use the following parameters:

-lineFollowingCruiseSpeed 0.1 -lineFollowingMinCurvature 2 lineFollowingMaxCurvature 16 \
-lineFollowingCruiseControlPower 4 -lineFollowingMaxPolSpeed 0.06 \
-lineFollowingTimeFilter 1 -lineFollowingMarkUpGain 30 \
-lineFollowingInitTime 6 -lineFollowingInitSpeed 0.02 \
-lineFollowingMinSpeed 0.01 -lineFollowingIrToAxisDistance 0.05784