Autonomous mobile robot guidance based on ground line mark

Abstract

This paper presents a mobile robot guidance approach based on tracking of straight line marked on the ground. To accurately and robustly extract the ground line, a senior line detector, with sub-pixel centre localization of capability for a stripe like narrow region, is successfully presented. PD and PID are designed for mobile robot tracking control and their performances are compared in experiment. From the experimental results, the effectiveness and usefulness of the proposed guidance system are confirmed.