A MODEL OF LINE FOLLOWING ROBOT USING PID CONTROLLER : An Educational Platform Based on LEGO Mindstorms NXT Kit

• Main Author: Wang, Zimu
• Format: Others
• Language: English
• Published: Högskolan i Gävle, Avdelningen för elektronik, matematik och naturvetenskap 2015
• Online Access: http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-21428

PID controllers are widely used in industrial control systems since it could significantly improve the performance of the systems. It is a basic and important tool for an engineering student.An educational PID controller model using LEGO Mindstorms NXT kit as a line following robot was presented in this thesis. This robot could be controlled by a PC via Bluetooth. MATLAB was used for analyzing data and controlling the robot. A MATLAB Toolbox named “RWTH—Mindstorms NXT Toolbox” was utilized for remote controlling and gathering the feedback data from the robot in real-time via Bluetooth.The algorithm and tuning methods of PID controllers were studied in this thesis. Moreover, the effectiveness of each parameter would be studied by comparing the result of P, PI and PID control type.