Inteligent Line Follower Mini-Robot System

This paper shows a prototype development of an intelligent line follower mini-robot system, the objective is to recognize, understand and modify the actual performance of the movements of the robot during its pathway by way of getting information in real time from different magnetic sensors implemented in the system and based in a V2X digital compass, microcontroller and odometric measurements. The paper shows as well, the system characterization of the V2X sensor (digital com- pas) and the cost-benefit of the prototype implementation and performance. The pro- gramming techniques and easy operation is detailed too. It is shown in the article the design and implementation of an "autonomous intelligent line fol- lower navigation system" which has been designed in the DISCA-SEA IIMAS-UNAM, it is used an inductive-magnetic based sensor to measure magnetic fields which shows the orientation and position of the pathway of the mobil-robot to get real-time navigation information. This efficient potential tool has been used since the 90's in industrial applications with a lot of success because of its good perfor- mance, small size and compatibility with different electronic systems. The follower system (FS) uses a continuous black line on a white background in its pathway during its travel trajectory, the line has to be 18 millimeters width in order to have an acceptable functioning. To analyze the inductive sensor, test experimentation was done within a roadway, capturing data where possible conflicts could be appears during the test, this data was used as inputs to the algorithm to achieve corrections on the decision speed and control movements. A microcontroller assigns the speeds to optimize the performance according to time movements in order to get a closer behavior as humans could do it without a vision system to catch its environment. The task of this work has been to study the V2X compass real performance to develop the navigation algorithms and implement them in a AT90S1200 Atmel microcontroller.