| Summary: | 碩士 === 國立高雄師範大學 === 工業科技教育學系 === 102 === An Efficiency Study of Line Following Robot with Single Light Sensor
Abstract
The purpose of this study is to development an efficient line following method for Line Following Robot (LFR). This study build a rear-wheel-drive Line Following Robot with single light sensor by using LEGO Mindstorms education serial module. Normally, Line Following Robot uses light sensor to detect dark and bright and transfer to digital data as 0 or 1 to drive rear wheel motor which was named as Critical Dichotomy design. However, this method caused the Line Following Robot drives rocking. To solve this problem, some methods were used such as snake path method to smooth Line Following Robot movement, which also is one of Critical Dichotomy design. This study found that data gathering from light sensor is not Critical Dichotomy but a continuity gradual analogy value. Therefore, this study by using tracking process to collect continuous data from light sensor. Through the mathematical calculation, data form light sensor was transferred as a continuous power value to right and left rear wheel drive to drive the Line Following Robot. The effects of this method were significantly improving the line-tracking functions, such as vehicle orientation and reliability of Line Following Robot.
Keyword: LEGO, Mindstorms, Line Following Robot, Light sensor, PID Control
|
|---|
