PID control applied on a line-follower AGV using a RGB camera

摘要

This paper aims to develop a control algorithm for a unicycle type AGV (Automated Guided Vehicle) to follow a trajectory predefined by a line avoiding oscillation on its movements. At the first tests the PID controller will be applied. On some applications cameras are used to help a robot follow a track (instead of infra red sensors), determining if it should keep a forward movement or turn to any sides. On this application, the camera is used in the PID control loop as a sensor to give feedback information, thus evaluating the efficiency of the control system allied with computer vision. This type of application simplifies the sensing system of a line follower AGV and makes possible to use the camera to other means, such as token and color identification. Considering a simplified model and a classic control technique, the results presented have showed stability on lower speeds.