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This practical has been established to provide the microcontroller course at the Vienna University of Technology with an autonomous robot. The robot should be programmed by students participating in this course. The goal of this practical is to develop a working prototype suitable for teaching purposes. Line following is the ability of an autonomous robot to follow a line marked along the floor. This primary objective should be accomplished in the least amount of time. | WIEN Technische Universität Wien Vienna University of Technology Practical Line Following Robot Documentation Lukas Silberbauer e0126310@student.tuwien.ac.at 7th January 2005 CONTENTS Contents 1 Introduction 3 1.1 Preface. 3 1.2 Requirements. 4 1.3 Goals Aims . 4 1.4 Existing Systems. 4 1.5 Application Boundaries . 5 2 Building the Prototype 6 2.1 Robot features. 6 2.2 Microcontroller. 7 2.3 Sensors. 7 2.4 Motors . 12 2.5 RF transceiver.14 2.6 Mechanical Assembly.14 2.7 Application Software Algorithms.16 3 PCB Design 17 3.1 Introduction.17 3.2 Features . 17 3.3 Schematics.18 3.4 PCB Layout.20 3.5 Partslist.20 Line Following Robot Documentation 1 CONTENTS 4 The Art of Line Following 22 4.1 Discontinuous Controllers.22 4.2 PID based algorithms .24 4.3 Fuzzy based algorithms.25 4.4 Cerebellar Control.26 5 Future Prospects 26 5.1 Planned Applications.26 5.1.1 MCLU Robot.26 5.1.2 Balancing Robot . 26 5.2 Possible Other Applications . 26 6 Final Notes 28 6.1 Lessons Learnt.28 6.2 Problems Pitfalls.28 6.3 Conclusion.29 Line Following Robot Documentation
