In
te
r
n
ation
a
l Jou
rn
al
o
f Po
we
r
Elec
tron
ic
s an
d
D
r
ive S
y
stem
(IJ
PED
S
)
V
o
l.
11, N
o.
1, Mar
ch 20
20,
p
p.
160~
1
6
8
IS
S
N
: 2088-
86
94,
D
O
I
:
10.11
59
1
/ij
ped
s
.
v11
.
i
1.pp
1
60-
16
8
160
Jou
rn
a
l
h
o
me
pa
ge
:
ht
tp:
//i
j
p
eds.i
a
esco
re
.com
Design and imple
m
entation of
li
ne follow
e
r and obstacle
detection robot
A
h
med
Be
nd
i
m
rad
,
A
you
b
El
A
mran
i
,
Bou
c
h
ta
E
l
A
m
ran
i
Lab
o
rato
ry of
t
h
in
fi
l
ms
a
n
d
s
urface t
r
eatm
e
nt
b
y
Pl
asm
a
, Si
d
i
M
o
ha
m
e
d Be
n
Ab
be
lla
h
Un
i
v
e
rs
it
y, Mo
r
oc
c
o
Art
i
cl
e In
fo
ABSTRACT
A
r
tic
le hist
o
r
y
:
R
e
ce
i
v
e
d
Mar
27,
2
0
1
9
R
e
v
i
s
e
d
Jul
8
,
2
019
A
c
c
e
pte
d
A
ug 6,
201
9
In
t
his
pap
e
r,
w
e
p
r
op
ose
a
m
e
th
od
f
o
r
a
l
in
e
fo
llower
rob
o
t
b
a
s
e
d
on
th
e
in
st
ant
a
n
e
ou
s
com
p
utatio
n
o
f
t
he
r
adi
u
s
o
f
c
u
r
vatu
re
o
f
th
is
l
i
n
e
,
usi
ng
inf
r
ared
lin
e
s
e
ns
ors.
T
h
e
n
um
ber
and
l
a
yo
ut
o
f
its
s
ens
o
rs
,
as
w
ell
as
t
h
e
m
e
th
od
ch
osen
,
pl
ay
a
n
im
p
o
rtant
ro
le
i
n
t
h
e
rob
o
t
'
s
res
p
o
n
se
t
o
the
line,
with
t
he
d
esi
r
ed
accur
acy
a
nd
s
peed.
In
a
d
d
it
io
n,
t
h
e
r
o
b
o
t
m
us
t
be
e
qu
ip
p
e
d
with
a
n
anti-colli
s
i
o
n
sy
st
em
,
u
s
in
g
an
u
lt
rasonic
di
s
t
a
n
ce
s
e
n
so
r,
t
o
detect
and
avoi
d
o
b
st
a
c
les
in
s
everal
s
it
uation
s
,
es
peci
a
l
ly
a
t
li
ne
c
ros
s
overs
,
when
ot
her
ro
bo
ts
sh
a
re
a
c
om
m
on
co
mp
lex
li
ne.
K
eyw
ord
s
:
Act
u
at
o
r
Mi
crocontroller
Ro
bot
S
e
nsor
Th
is
is a
n
o
p
en acces
s a
r
ti
cle u
n
d
e
r t
h
e
CC
B
Y
-S
A
li
cens
e
.
Corres
pon
d
i
n
g
Au
th
or:
Ah
me
d
B
e
ndimr
a
d
,
Lab
o
ra
tor
y
of
t
h
in
f
il
m
s
a
nd s
u
rfa
c
e
trea
tme
n
t
b
y
Pla
sm
a
,
S
i
di
M
o
h
am
ed
B
e
n
A
bbe
l
l
ah
U
nive
rsi
t
y,
F
e
s 3005
0,
M
a
r
ok
o
.
Em
ail:
ahm
e
d.be
n
d
i
m
r
a
d
@u
sm
ba.
a
c
.
m
a
1.
I
N
TR
OD
U
C
TI
O
N
A
l
i
n
e
f
o
l
l
o
w
e
r
r
o
b
o
t
i
s
a
r
o
b
o
t
d
e
s
i
g
n
e
d
t
o
f
o
l
l
o
w
a
l
i
n
e
o
r
a
p
a
t
h
a
l
rea
dy
pre
d
e
t
er
m
i
ned
b
y
t
he
u
s
e
r
.
T
h
i
s
t
y
p
e
o
f
r
o
b
o
t
i
s
u
s
e
d
m
a
i
n
l
y
i
n
s
e
m
i
t
o
t
o
t
a
l
l
y
a
u
t
o
nomo
u
s
fa
c
t
or
i
e
s.
I
n
th
is
e
nvir
onm
en
t,
t
he
se
rob
o
ts
f
u
n
c
tio
n
a
s
c
arr
i
e
r
s
of
m
ateria
l
s
t
o
de
live
r
p
ro
duc
ts
f
r
om
one
p
o
i
n
t
o
f
m
a
nu
fact
ur
e
t
o
a
no
the
r
[
1
]
,
but
its
u
se
c
a
n
b
e
ge
nera
l
i
z
e
d
i
n
any
fie
l
d
i
n
o
u
r
d
ail
y
l
i
v
es.
In
ad
d
i
t
i
on
to
t
he
s
i
m
p
l
e
li
ne
t
ra
ck
in
g
a
b
i
l
ity,
th
is
rob
o
t
m
u
st al
s
o ha
ve
t
he
ap
t
i
t
ude
t
o na
v
i
ga
te
i
n a l
i
n
e cros
sov
er
s an
d t
a
k
e
the
ne
cessar
y
s
te
ps t
o fi
nd t
h
e
r
i
g
h
t
pat
h
t
o fo
llow
afte
r a
cr
ossov
e
r
wh
en
t
h
e
o
t
h
er p
at
h
s
a
re o
c
c
u
p
i
e
d by
one
or m
o
r
e
o
b
s
ta
c
l
es [2, 3]
.
Th
ere
are
s
e
ve
ral
t
echn
i
qu
es
f
o
r
l
i
n
e
t
r
ack
ing
rob
o
t
s",
s
u
c
h
a
s
u
si
ng
a
c
amera
t
h
at
t
ak
es
i
n
s
t
a
n
t
ima
g
es
o
f
t
h
e
li
n
e
[
4]
,
or
u
s
i
ng
a
l
i
g
h
t
s
our
ce
w
ith
a
n
LD
R
[
5
]
,
o
r
u
si
n
g
I
R
sens
ors
t
h
at
a
re
m
or
e
a
ccur
a
te
tha
n
L
D
R
s
an
d
c
h
e
a
p
e
r
t
ha
n
a
cam
er
a.
W
e
ha
ve
t
her
e
for
e
c
h
o
se
n
t
o
u
s
e
di
gi
t
a
l
i
n
f
r
are
d
s
en
so
rs
f
o
r
line
de
te
c
tio
n.
Ma
ny
s
y
s
t
e
m
s
base
d
o
n
I
R
se
nsors
use
discr
e
te
m
e
t
ho
ds
t
o fo
l
l
o
w
a
l
in
e
,
w
h
i
ch
c
a
n
o
f
t
en
g
en
era
t
e
a
di
sc
o
n
t
i
n
ui
ty
o
r
osci
llat
i
on
i
n
the
be
ha
vi
or
o
f
the
l
i
ne
f
o
l
l
o
w
e
r
r
ob
ot.
O
u
r
pro
p
o
sed
so
lut
i
o
n
i
s
t
h
e
r
efor
e
t
h
e
use
of
a
m
et
h
od
base
d
on
t
h
e
i
n
sta
n
t
ca
lc
ul
a
tio
n
of
t
he
r
a
d
ius
o
f
c
urv
a
ture
o
f
th
e
l
i
ne
t
a
k
in
g
i
n
t
o
a
cc
oun
t
sever
a
l
ge
om
et
ric
para
me
t
e
rs
a
s
w
e
l
l
a
s
a
ti
m
e
c
o
u
nt
er
f
ro
m
the
c
o
n
t
r
o
l
sys
t
em
b
ase
d
o
n
a
m
i
croc
o
n
t
r
o
l
l
er
.
F
o
r
obstac
l
e
d
e
tec
t
io
n,
a
n
u
l
traso
n
ic
s
ens
o
r
m
oun
te
d
on
a
se
rvo
mo
tor
w
a
s
used
t
o
sc
an
a
n
an
g
l
e
of
1
80
d
e
g
r
ee
s
a
n
d
t
o
b
e
a
b
l
e
t
o
d
e
t
e
c
t
s
ev
era
l
o
b
s
t
a
cl
e
s
,
i
n
st
ead
o
f
usin
g
se
ve
ral
u
l
traso
n
i
c
s
e
n
sor
s
[
6].
Th
e
r
obot
ca
n
fo
llow
a
bl
ac
k
line
o
n
a
w
hi
te
b
ac
kgro
u
n
d
.
T
h
e
ro
b
o
t
is
d
r
i
v
e
n
by
t
wo
d
i
f
f
e
re
nti
a
l
w
h
e
e
l
s
d
riv
e
n
by
t
w
o
gea
r
ed
m
o
t
ors
[7-9].
T
hese
g
ear
ed
m
o
t
o
r
s
are
c
ontro
l
l
ed
b
y
t
h
e
mic
r
oc
on
tro
l
ler
afte
r
pr
ocess
i
ng
t
h
e
in
form
ation
ac
quir
e
d b
y
t
he
v
ar
i
o
us
s
e
n
s
o
rs.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
P
o
w
Elec
&
D
r
i
S
y
st
I
S
S
N
:
2088-
86
94
D
e
sig
n
a
n
d im
pl
e
m
e
n
t
a
tio
n o
f
line
f
o
llo
wer and o
b
s
t
ac
l
e
d
e
te
ct
io
n rob
o
t (
A
hm
ed Ben
d
i
m
rad)
16
1
2.
PROTOTYPE TE
S
T
AND E
S
SENTI
A
L
CO
MPO
N
E
N
TS
A
li
ne
f
o
l
l
o
wing
r
o
bot
u
s
u
a
l
ly
c
ons
is
t
s
o
f
the
fo
llowi
n
g
e
lem
e
n
ts:
S
e
nsor
s
(
u
s
u
al
ly
i
n
f
r
a
r
e
d
an
d
ul
tr
aso
n
i
c)
;
Mi
c
r
oco
n
tr
o
l
ler
or
M
icr
opr
oce
s
s
o
r
;
A
ctua
t
o
r
s
(
moto
rs);
W
h
e
e
l
s
;
Ch
a
ssis an
d
B
a
tteries [10
].
O
u
r
study
w
a
s
tes
t
ed
on
a
t
e
s
t
p
r
o
t
o
ty
pe
d
esi
gne
d
f
o
r
thi
s
r
ese
a
r
ch
.
Th
i
s
p
ro
to
typ
e
i
s
a
mo
bi
l
e
r
o
b
o
t
wi
th
t
wo
i
nd
e
p
e
n
d
e
nt
d
r
i
v
e
w
h
e
el
s,
c
on
t
a
ini
n
g
a
l
l
th
e
c
o
m
p
on
e
n
t
s
ne
cess
a
r
y
f
or
i
ts
o
per
a
tio
n.
T
he
w
h
o
le
i
s
pr
ote
c
te
d
b
y
a
h
an
d-
c
u
t
p
l
e
x
igla
ss
fr
a
m
e
,
a
s
show
n
in
F
ig
u
r
e
1
We
u
se
d
t
h
e
f
o
ll
ow
i
n
g
essen
t
i
a
l
c
o
mpo
n
e
n
t
s
:
F
i
gur
e
1.
P
r
o
t
o
ty
pe
t
es
t
2
.
1
.
Mi
c
r
o
co
ntro
ll
er
We
c
h
o
se
a
s
c
o
n
t
r
o
l
sy
ste
m
t
he
P
i
c
1
6f
8
77A
m
icr
o
c
o
n
t
r
o
ll
e
r
t
o
a
c
qui
re
t
h
e
i
nfo
r
m
a
t
i
on
o
f
th
e
di
ff
er
e
n
t
sen
s
o
r
s via
t
h
e
i
r
d
i
g
i
tal
or
a
na
lo
g
i
n
pu
ts
[
11]
,
t
o
d
o
t
h
e
pr
oce
s
s
i
n
g
a
n
d
the
pr
o
g
r
a
m
m
e
d c
a
lcu
l
a
t
i
ons
,
a
nd
to
d
el
i
v
er
v
ia
t
he
ir
d
i
g
it
a
l
o
u
t
p
u
t
s
t
h
e
c
o
mm
ands
t
o
b
e
e
xe
c
u
ted
by
the
m
o
to
r
s
i
n
Pulse
Wid
t
h
M
odul
a
t
i
o
n
(PWM
)
[
1
2
,
1
3].
W
e
u
sed
th
e
ti
mer2
o
f
t
h
i
s
m
i
c
ro
c
o
n
t
rol
l
er
f
or
t
he
t
i
m
e
calc
u
la
tio
n
b
y
ge
ner
a
t
i
n
g
a
n
i
n
ter
r
upt
a
t
e
v
er
y
80
μs.
2.
2.
S
e
n
sors
2.
2.
1.
I
nf
rare
d
ray
se
n
s
ors
The
dis
t
in
c
t
i
o
n
be
tw
ee
n
the
b
l
ac
k
a
n
d
w
h
ite
t
r
acks
w
a
s
ba
se
d
o
n
r
e
f
l
e
ct
io
n
in
f
r
a
r
ed
s
en
so
rs,
th
e
s
e
se
n
s
or
s
co
nsist
of
a
n
i
n
fr
ar
e
d
e
m
i
t
t
i
ng
LED
t
ha
t
ac
ts
a
s
a
n
e
mi
tt
e
r
a
nd
a
n
i
n
fra
red
se
nsit
i
v
e
p
hot
ot
ran
s
i
s
tor
t
h
a
t
a
c
t
s
a
s
a
r
e
c
e
i
v
e
r
,
a
n
d
t
h
e
s
e
t
w
o
c
o
m
p
o
n
e
n
t
s
a
r
e
p
l
a
c
e
d
s
i
de
b
y
s
i
de
i
n
a
ho
l
d
er
.
When
t
h
i
s
se
ns
or
i
s
i
n
fro
nt
o
f
a
w
h
ite
t
rack
,
t
h
e
infrared
b
eam
i
s
stron
g
ly
r
ef
l
ected
a
n
d
t
h
e
p
h
o
t
o
t
r
a
n
s
i
s
t
o
r
i
s
t
h
e
n
s
a
t
u
r
e
d
.
W
h
e
n
th
is
s
e
n
sor
is
i
n
fr
on
t
o
f
a
b
la
c
k
t
ra
ck,
t
h
e
i
n
fra
r
ed
b
ea
m
is
prac
tica
l
ly
n
o
t
r
eflec
t
ed
a
n
d
t
he
p
h
o
t
o
t
rans
is
tor
is
the
n
b
loc
k
e
d
[
14]
.
Ther
e
is
a
w
ide
va
r
i
et
y
of
I
R
se
nsor
s,
b
u
t
t
he
C
N
Y
7
0
w
a
s
c
hose
n
d
i
r
ec
tl
y
bec
a
u
s
e
o
f
i
t
s
sm
all
size
(
7m
m
x
7mm
x
6mm
)
a
nd
the
ac
c
u
r
a
cy
r
equ
i
r
e
d
by
t
h
e
p
r
o
p
o
se
d
pr
inc
i
p
l
e
of
f
ol
low
i
ng
a
l
i
ne
[
15]
.
2.
2.
2.
U
lt
raso
n
i
c
sen
s
or
Th
is
t
ype
o
f
se
nsor
i
s
b
a
sed
o
n
t
he
u
se
o
f
ul
tr
asou
nd
to
m
easur
e
t
h
e
di
st
an
ce
t
o
an
o
b
s
tacl
e
wi
t
h
o
u
t
co
nt
act
w
ith
t
h
e
l
att
e
r.
I
n
an
u
lt
ra
soni
c
sen
s
o
r
,
t
h
e
t
r
ans
m
i
t
t
e
r
a
n
d
t
h
e
r
ec
eiver
are
l
o
ca
t
e
d
i
n
t
h
e
s
am
e
ho
us
i
ng.
Th
e
t
r
a
nsmi
tter
se
nd
s
a
tr
a
i
n
of w
a
v
es
t
ha
t
w
i
l
l
r
e
f
le
c
t
on t
h
e
ob
je
ct to
be
d
e
t
ect
ed an
d
t
h
e
n
r
e
t
u
r
n
t
o
the s
o
urce
. The t
i
m
e
tak
en t
o
go
ba
c
k
an
d
f
ort
h
m
ake
s
it p
o
ss
i
b
l
e
t
o
d
e
t
e
rmi
n
e
th
e
di
st
a
n
ce
o
f
t
h
e
obj
e
c
t
f
r
o
m
the
s
our
c
e
.
Th
e
ul
tr
aso
u
n
d
s
ens
o
r
w
e
c
hose
is
t
he
H
C-
SR
04
[
1
6,
17]
,
w
h
ic
h
ha
s
the
adva
nta
g
e
o
f
b
e
i
n
g
si
mp
l
e
t
o
us
e
an
d
to
h
av
e
a
n
e
x
c
e
l
l
e
nt
n
on
-c
on
t
act
d
et
ectio
n
ra
n
g
e
(
from
2
c
m
to
4
m
)
,
with
h
ig
h
m
e
a
s
urem
ents
p
r
ecis
i
o
n
a
n
d
s
t
ab
le.
Its
o
p
er
a
tio
n
is
n
ot
i
n
f
lue
n
ce
d
b
y
t
he
l
i
g
ht
o
r
t
h
e
c
o
l
o
r
o
f
t
he
obs
ta
c
l
es
t
o
b
e
d
e
t
ect
ed
.
2.
2.
3.
S
p
eed
s
en
sor
T
h
i
s
s
en
so
r
con
s
i
s
t
s
o
f
an
I
R
t
r
a
n
smit
te
r,
a
n
d
an
I
R
re
c
e
iv
er,
betw
e
e
n w
h
ic
h
i
s
p
la
ce
d a tr
ansm
i
s
si
ve
r
o
t
a
ry
E
n
c
od
e
r
D
i
s
k
c
oup
l
e
d
to
t
h
e
a
xi
s
of
r
ot
a
tio
n
of
t
h
e
w
h
e
e
l
[
1
8]
.
Whe
n
the
w
hee
l
r
o
t
ates
w
it
h a
n
a
n
g
u
l
a
r
ve
loc
i
t
y
ω
,
t
h
e
i
n
f
r
a
r
e
d
b
e
a
m
i
s
i
n
ter
r
up
te
d
by
the
D
i
s
k
,
w
i
t
h
a
fr
eq
uenc
y
tha
t
d
e
p
e
n
ds
on
the
numbe
r
of
s
l
it
of
t
he
d
is
k
a
nd
the
a
n
g
u
l
a
r
v
eloc
ity
o
f
the
w
h
ee
l
.
T
h
u
s,
a
n
ele
c
t
r
i
c
a
l
p
u
l
s
e
of
t
h
e
s
am
e
fr
equenc
y
is
in
ter
p
r
e
t
e
d
b
y
t
he
m
icr
o
c
o
n
t
r
o
ller
w
h
i
c
h
c
a
l
c
ula
t
e
s
t
he
a
ng
ular
v
e
l
oc
ity
ω
.
The
spee
d
se
nsor
w
e
ha
ve
c
hos
e
n
is
b
ase
d
o
n
t
h
e
com
p
ar
ator
L
M
3
9
3
w
hi
ch
d
eli
v
ers
a
dig
i
ta
l
si
g
n
a
l
wh
ic
h
can
b
e
pr
oc
ess
e
d
mor
e
easil
y
by
t
h
e
mi
c
r
o
c
on
t
r
ol
l
e
r
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st V
ol.
11,
N
o.
1
, Ma
r
202
0
:
160
–
16
8
16
2
2.3.
Mot
or d
ri
ver
an
d
m
o
tors
The
pow
er
c
ir
cui
t
s
are
gener
a
lly
f
orm
e
d
by
t
rans
is
t
o
r
s
o
f
hi
gh
cu
rrent
g
ai
n
o
r
a
g
ro
up
o
f
a
nu
mb
er
of
t
h
e
se
t
rans
istors
i
n
i
n
te
gra
t
e
d
c
ircu
its
(
t
r
ans
i
st
or
b
r
i
d
g
e)
.
F
o
r
t
h
i
s
r
o
b
o
t
,
w
e
w
i
l
l
u
s
e
t
w
o
g
e
a
r
e
d
m
o
t
o
r
s
f
o
r
the mo
t
o
riza
ti
o
n
o
f
t
h
e w
h
ee
l
s
,
and a servom
ot
or
f
or
t
he ra
d
ar
obsta
cle de
t
ector.
The
pow
e
r
c
ircui
t
a
da
p
t
ed
t
o
the
tw
o
gea
r
m
ot
or
s
i
s
t
he
L
2
9
8N
[
19],
it
c
o
n
t
a
i
ns
t
w
o
t
ra
nsist
or
b
ri
dge
s
t
o
c
ontr
o
l
tw
o
m
o
t
o
r
s
i
n
bot
h
direc
t
i
o
ns
w
it
h
a
m
a
xim
u
m
c
u
r
r
ent
of
1
A
pe
r
m
o
t
o
r
.
A
s
for
t
h
e
s
erv
o
m
o
tor,
i
t
m
u
s
t
l
i
k
ewise
ha
ve
a
s
epar
ate
pow
er
c
irc
u
it.
T
he
c
i
r
c
u
i
t
c
ho
sen for t
h
i
s
i
s t
h
e
L2
9
3
D
[2
0,
2
1
]
,
it
a
l
s
o
co
n
t
ai
ns
tw
o
br
i
d
g
e
s
of
t
r
a
ns
is
tor
s
and
w
o
rks
w
i
th
t
h
e
s
a
m
e
princ
i
pl
e
,
b
u
t
o
n
l
y
de
li
ver
i
ng
0.
6A
p
e
r
c
ha
nn
el
w
h
i
ch
i
s
suffi
c
i
en
t
fo
r
t
h
e
u
s
ed
servom
o
t
or w
h
i
ch
c
o
n
s
u
me
s 0.16A
em
p
t
y
and
har
d
l
y
u
nde
rgoes l
o
a
d
[22].
2.4.
Powe
r
su
p
p
l
y
an
d
volta
ge
r
e
g
u
l
at
ors
F
o
r
the
power
s
up
p
l
y,
w
e
cho
s
e
t
o
u
se
a
s
in
gle
so
urce
o
f
e
n
erg
y
f
or
a
ll
th
e
assem
b
l
y
o
f
t
h
e
ro
bo
t.
I
t
con
s
is
t
s
o
f
thr
ee
serie
s
-
c
on
ne
c
t
e
d
1
8
6
50 7800
m
A
h
3.
7V
r
echa
r
ge
a
b
le
L
i
-
I
o
n B
a
t
t
e
r
i
e
s
,
w
h
i
c
h
f
o
r
m
s
a
s
i
n
g
l
e
source
o
f
p
o
w
e
r
w
i
t
h
a
c
apa
c
i
t
y
o
f
7
800
m
A
h
and
a
vo
l
t
a
g
e
of
1
1
.
1
V
.
The
elec
tro
n
i
c
r
o
b
o
t
a
sse
m
bly
i
s
di
vide
d
i
n
t
o
t
w
o
p
arts,
a
pa
r
t
c
on
ta
in
i
ng
t
h
e
co
ntr
o
l
boa
rd,
th
e
sens
ors
and
the
LED
s
and
o
p
er
ate
s
w
i
t
h
a
vo
lta
ge
o
f
5V
,
a
n
d
a
pa
rt
c
o
n
t
ain
i
ng
t
h
e
m
o
tor
s
w
it
h
the
i
r
dri
v
ers
tha
t
o
p
e
rate
w
it
h
a
v
o
l
t
a
ge
o
f
6V
.
We
w
ill
the
n
ne
e
d
to
se
t
the
va
lue
of t
he vo
l
tage
at
5V
on
t
h
e
o
n
e
h
a
nd
, a
nd
6V
o
n
t
h
e
othe
r ha
n
d
d
u
rin
g
t
he
ope
ra
tion
of
t
he
r
obo
t
fr
om
t
he
v
ol
ta
g
e
s
o
u
rce
(11.
1
V
)
.
F
o
r
this,
t
h
e
p
o
s
iti
ve
v
o
lta
ge
r
e
g
u
l
a
t
ors
780
5
an
d
78
0
6
a
re
use
d
,
the la
st
t
w
o
d
igi
t
s re
prese
n
t
th
e
o
u
t
p
u
t
v
o
l
t
a
ge.
2.5.
Progr
am
min
g
l
an
gu
ag
e
The
r
e
are
seve
ral
l
a
n
gua
ge
s
of
p
ro
gra
mmin
g
w
i
t
h
w
h
ic
h
o
n
e
c
a
n
p
r
ogr
am
a
m
ic
roco
n
t
ro
ller
(Asse
mb
l
e
r,
C
,
Pa
sc
al
…
),
o
ne
c
h
o
se
t
h
e
l
an
gu
a
g
e
C
b
e
cau
se
i
t
i
s
s
i
mp
l
e
r
,
m
ore
com
p
rehe
ns
i
b
le,
it
c
a
n
b
e
ea
si
ly
m
o
d
i
f
ia
ble
by
us
in
g
func
tio
ns,
an
d
in
p
lus
t
h
ere
are
sev
er
al
s
o
f
t
w
ar
e
micr
oco
n
t
ro
ll
e
r
s
pr
o
g
ra
m
m
ing
us
i
n
g
this la
n
gua
g
e a
s
MPLA
B
a
nd MIKROC P
R
O
FOR PIC.
2.6.
Progr
am
mati
on
s
oftwar
e
The
pr
ogr
am
ming
sof
t
w
a
re
c
hose
n
i
s
MIK
R
O
C
P
RO
F
O
R
P
IC.
It
i
s
ea
s
y
t
o
u
s
e
w
i
t
h
a
c
l
e
a
r
in
t
e
rfa
ce
an
d
c
o
n
t
a
i
n
i
ng
se
ve
ral
prede
f
i
n
e
d
t
o
o
l
s
a
n
d
fu
nc
tio
ns
,
w
h
ic
h
fac
i
l
i
t
a
t
es
p
ro
gram
m
i
ng
w
ith
ou
t
g
o
in
g
in
to the
c
omp
l
i
c
a
t
i
o
ns
o
f
t
h
e ma
nual
se
tti
n
g
s
of some
m
icroc
o
n
t
ro
ller
re
g
i
s
t
er
s,
s
uc
h
as serial com
m
un
ica
t
io
n
fu
nc
ti
o
n
s,
p
u
l
se
w
idth
m
od
u
l
a
tio
n,
t
he
A
S
C
II
c
ode
c
on
ver
s
ion
to
o
l
a
n
d
t
he
h
e
x
ade
c
i
ma
l
an
d
dec
i
m
a
l
bi
nary
numbe
rs.
3.
LI
N
E
F
O
L
L
O
W
E
R
3.1.
C
alcu
la
t
i
o
n
of rad
i
u
s
of cu
rvatu
r
e
of
t
h
e
lin
e
F
o
r
the
ca
lc
ul
atio
n
of
t
he
r
adi
u
s
o
f
c
ur
va
tur
e
o
f
t
h
e
l
i
ne
t
o
b
e
f
o
l
l
o
w
e
d
,
a
m
e
t
h
o
d
b
a
s
e
d
o
n
t
h
e
geom
etr
y
o
f
t
h
e
l
i
ne,
th
e
di
stri
bu
tio
n
o
f
t
hree
i
n
frare
d
s
e
ns
or
s
C
N
Y
7
0
,
a
n
d
t
h
e
p
o
s
i
t
i
o
n
o
f
e
a
c
h
o
f
t
h
e
s
e
sens
ors w
ith r
espec
t
t
o t
h
e l
i
n
e
a
s ind
i
cate
d
i
n the
F
i
g
u
re
2
.
We
c
h
o
se
a
b
l
ack
l
i
n
e
on
a
w
h
i
t
e
gr
ou
n
d
,
so
t
he
i
nfrare
d
sens
or
r
e
t
ur
ns
"
0"
w
h
e
n
i
t
i
s
on
the
b
l
ac
k
line
,
a
nd "1"
w
h
en
it
i
s
on
t
h
e w
h
i
t
e
fie
l
d.
The
fo
l
l
ow
in
g par
a
m
e
ters
w
e
r
e use
d
(
F
i
gur
e 2)
:
a.
l:
H
al
f-
w
i
dth
o
f
the
l
ine
to fo
l
low
.
b.
k: H
al
f of
t
he
d
is
t
a
nce
be
tw
e
e
n
the
I
R sens
or
numbe
r 1,
and
the
I
R
sensor num
ber
2.
c.
h
:
D
i
s
t
a
n
c
e
b
e
t
w
ee
n
t
h
e
IR
s
en
so
r
nu
mb
er
3
,
an
d
th
e
lin
e
pass
in
g t
h
r
oug
h
the
IR
s
en
sors
numbe
rs
1
a
n
d
2.
d.
d:
D
is
ta
nce
tra
v
ele
d
li
n
ea
rly
by
t
he
r
obo
t be
tw
ee
n
t
h
e insta
n
t
o
f
c
ha
nge
o
f
st
a
t
e
o
f
t
he
I
R
sens
or num
ber
3,
a
nd the
m
o
me
nt
o
f c
h
a
n
g
e
o
f state
o
f
t
h
e
IR se
nsor
nu
m
ber
1
or
2
(or vice
ver
s
a
)
.
e.
x:
D
i
s
tanc
e
be
t
w
ee
n
p
o
i
n
t
A
w
her
e
t
he
I
R
n
u
mbe
r
3
s
e
n
s
o
r
leave
s
t
he
l
i
n
e,
a
nd
the
l
i
ne
t
hr
oug
h
t
h
e
I
R
numbe
r 1
an
d
2
sens
ors.
f.
e:
D
istanc
e
bet
w
ee
n
the
po
i
n
t
M
where
the
c
h
a
n
ge
o
f
curva
t
ure
b
e
g
in
s,
a
n
d
t
he
l
ine
p
a
ss
ing
thr
o
u
g
h
t
he
IR sensors
n
u
m
ber
s
1 a
nd 2.
g.
s:
D
i
s
ta
nc
e
be
t
w
e
e
n
t
h
e
ax
is
o
f
rot
a
ti
on
o
f
t
h
e
tw
o
dri
v
in
g
w
h
e
e
l
s,
a
n
d
t
he
l
i
n
e
pa
ssi
ng
t
hro
u
g
h
t
he
I
R
sens
ors num
be
rs
1
and
2.
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
D
e
sig
n
a
nd im
plem
e
n
ta
ti
o
n
o
f
li
ne
fo
ll
o
w
e
r
an
d o
b
s
t
ac
le
de
tect
i
o
n rob
o
t
(Ahm
e
d
Ben
d
i
m
rad)
16
3
(a)
(b)
F
i
gure
2. S
ensors
l
a
y
out
a
n
d
m
etho
d o
f
c
alc
u
la
t
i
ng
radi
us
o
f cu
r
v
a
t
ure.
a
:
S
t
ep
1
,
b:
S
tep
2
The
i
d
ea
w
e
h
a
ve
h
a
d
i
s
to
e
xpress
the
ra
di
us
o
f
cur
v
a
t
ure
a
s
a
func
ti
on
of
,
t
a
k
i
ng
a
n
d
a
s
parameters.
We c
on
side
r th
e
trian
g
le
(
O
A
M)
r
ec
t
a
ng
l
e
i
n M,
and
w
e
a
pp
l
y
the
t
he
orem
of P
y
tha
gor
as, w
here
:
2
2
and
w
e
c
ons
id
e
r
the
t
rian
g
l
e (O
BN
) r
ectan
gl
e
in N
, and
w
e
app
l
y
the
t
he
orem
of P
y
t
h
a
g
or
as,
w
h
er
e:
2
2
So
:
2
2
2
w
e
c
oncl
ude
:
42
42
8
2
4
0
it
i
s
a
se
cond
or
der
equat
i
o
n
w
hose
so
lut
i
on
a
cce
pt
e
d
by
our
m
e
tho
d
for
≠
2
is:
2
2
√
2
w
ith:
2
;
;
;
S
i
nce
the
pa
ram
e
ter
s
a
nd
a
re
f
ixed
dur
ing
t
h
e
sam
e
e
xpe
r
i
me
n
t
,
t
h
e
radius
o
f
curv
a
t
ure
r
then
d
e
p
e
nd
s on
a
si
n
gl
e
v
a
ri
a
b
l
e
.
I
f
w
e
ta
ke the
12.5 m
m
(half-
w
id
t
h
of bla
c
k
t
a
p
e),
a
nd i
f
w
e t
a
ke eac
h tim
e
a
val
u
e
of k
s
uch t
h
at
>
,
we
c
an
s
e
e
t
h
e
e
ffe
c
t
o
f
t
he
p
ar
am
ete
r
on
the
be
ha
v
i
or
o
f
(
)
for
>0
a
s
s
how
n
by
its
g
r
a
ph
ica
l
repr
esenta
t
i
o
n
in t
h
e
Fig
u
re
3.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
nt
J
P
o
w
E
l
e
c
&
D
r
i
S
yst
V
o
l.
11,
N
o.
1
,
Mar
202
0
:
160
–
16
8
16
4
F
i
gur
e
3.
G
r
a
p
h
ica
l
r
epr
e
sen
t
atio
n
of
r
(
x)
f
o
r
d
if
f
e
r
e
nt
v
a
l
ue
s o
f
th
e
p
a
r
amet
er k
F
r
om
F
igur
e
2,
t
he
m
e
a
sur
e
me
nt
o
f the
r
a
d
i
u
s
o
f
c
u
r
v
at
ur
e bec
o
m
e
s
l
ess
p
r
ecise
w
he
n th
e
para
me
t
e
r
k
i
n
cr
e
a
ses.
F
or
e
xam
p
l
e
,
r
(
x
)
var
i
e
s
b
e
t
w
e
en
6
.
5
c
m
a
n
d
1
3
c
m
f
o
r
a
v
a
r
i
a
t
i
o
n
o
f
x
e
q
u
a
l
t
o
1
c
m
i
f
k
=
1.
4cm
,
a
nd
0.
2
cm
i
f
k
=
2
c
m
.
Then
w
e
w
i
l
l
c
h
o
o
se
t
h
e
v
a
l
ue
1
.
4
cm
f
or
t
he
p
ar
am
eter
k
,
a
n
d
the
ex
pr
e
s
si
on
of
r
(
x)
i
s
si
m
p
lif
ied.
0.7
1
.
0
8
√
0.
1
9
0
.
8
1.2
1
Th
e
v
a
lu
e
of
x
i
s
d
e
termin
ed
fro
m
th
e
I
R
s
enso
rs
(
Figu
re
1
)
and
t
he
m
icr
o
con
t
r
o
l
l
e
r
tim
er
a
c
c
or
di
n
g
t
o
th
r
ee
c
a
s
es
:
a.
I
f
t
he
numbe
r
3
I
R
s
ensor
lea
v
e
s
t
he
l
i
n
e
be
f
o
r
e
t
he
I
R
se
nsor
num
ber
1
or
2
d
ete
c
t
s
it,
t
h
e
n:
=
ℎ−
b.
I
f
t
he
I
R
senso
r
numbe
r
1
or
2
d
ete
c
t
s
t
h
e
l
i
n
e
bef
o
r
e
I
R
se
nso
r nu
mb
er
3
leav
e
s it,
t
h
e
n:
=
ℎ
+
c.
I
f
t
he
n
um
ber
3
I
R
s
e
n
s
o
r
le
a
v
es
t
he
l
ine
a
t
t
he
s
am
e
tim
e
a
s
t
he
n
um
be
r
1
a
n
d
2
I
R
s
ens
o
r
s
d
e
t
e
c
t
it
,
the
n
:
= ℎ
.
The
va
l
u
e
o
f
d
i
s
de
ter
m
ine
d
f
rom
the
infra
r
e
d
e
n
co
der
sp
eed
s
e
ns
or
s
i
n
sta
l
le
d
o
n
t
he
t
w
o
d
r
i
vi
n
g
w
h
e
e
ls,
and
f
r
o
m
the
micr
ocontr
o
l
l
e
r
tim
er
a
c
c
or
d
i
n
g
t
o
the
r
e
l
at
io
n:
=
.
a.
:
The
speed
o
f the
rob
o
t
.
b.
:
t
h
e
t
i
m
e
b
e
t
w
e
e
n
t
h
e
m
o
m
e
n
t
t
h
e
I
R
s
e
n
s
o
r
n
u
m
b
e
r
3
c
h
a
n
g
e
s
f
r
o
m
"
0
"
t
o
"
1
"
,
a
n
d
t
h
e
m
o
m
e
n
t
t
h
e
I
R
s
e
n
sor
n
u
m
b
er
1
o
r
2
goe
s
fr
o
m
"
1"
t
o
"0".
3.
2.
V
ariat
i
on
o
f
t
h
e
d
i
re
ct
i
o
n
acc
o
rd
i
n
g
t
o
t
h
e
r
ad
iu
s
of
c
u
r
v
at
u
r
e
A
s
t
he
m
ode
l
of
t
he
r
o
b
o
t
u
s
e
d
is
u
n
i
c
y
cle,
t
he
v
ar
iat
i
on
of
o
r
ien
t
a
t
io
n
i
s
d
o
n
e
b
y
t
he
d
if
fer
e
nce
of
a
n
g
u
la
r
spe
e
d
b
etw
e
e
n
its
t
w
o
d
r
i
ve
w
he
els.
T
h
i
s
di
ffe
r
e
nc
e
mus
t
t
h
e
n
t
a
k
e
i
n
t
o
a
c
c
o
u
n
t
t
h
e
r
a
d
i
u
s
o
f
cu
rv
at
u
r
e (
)
o
f
t
he
l
i
n
e
and
the
r
o
b
o
t
a
r
chi
t
e
c
t
ur
e
a
s
s
how
n
in
F
ig
ur
e
4.
F
i
gur
e 4.
Ge
o
me
tric pa
r
am
ete
r
s of
r
obo
t a
n
d
line
t
o
fo
llow
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
P
o
w
Elec
&
D
r
i
S
y
st
I
S
S
N
:
2088-
86
94
D
e
sig
n
a
n
d im
pl
e
m
e
n
t
a
tio
n o
f
line
f
o
llo
wer and o
b
s
t
ac
l
e
d
e
te
ct
io
n rob
o
t (
A
hm
ed Ben
d
i
m
rad)
16
5
W
e
will
n
e
e
d
th
e
follo
w
i
ng
parameter
s:
a.
:
Half
o
f
t
h
e
di
st
a
n
ce
be
twee
n the
tw
o dri
v
e
whee
l
s
.
b.
:
C
u
rv
atu
r
e ra
d
i
u
s
f
ro
m t
h
e mi
d
d
l
e
of
t
h
e lin
e t
o
fol
lo
w.
c.
1
:
Cur
v
a
t
ur
e
r
a
di
us
c
o
n
c
e
r
n
i
ng
t
h
e
r
i
g
h
t
w
hee
l
.
d.
2
:
Rad
i
u
s
of
c
ur
va
tur
e
c
onc
e
r
ni
ng
t
h
e
l
e
f
t
w
he
el.
e.
1
:
Ang
u
lar
ve
loc
i
ty o
f
the
righ
t whe
e
l.
f.
2
:
Ang
u
lar
ve
loc
i
ty o
f
the
lef
t
w
hee
l
.
I
f
t
he
r
ob
ot
f
o
l
low
s
t
he
l
ine
,
t
hen
ea
ch
w
hee
l
d
r
a
w
o
n
t
he
p
la
n
e
a
c
i
r
c
le
o
f
r
a
d
i
us
t
ha
t
depe
n
d
s
on
r
(
x
)
,
a
nd
q.
a
nd
s
i
nce
b
o
t
h
dr
i
v
in
g
w
h
ee
l
s
h
ave
th
e
sa
me
r
a
d
i
u
s,
w
e
ca
n
de
mo
n
s
t
r
a
t
e th
a
t:
so
:
3
.
3
.
P
I
D
reg
ul
a
t
io
n
o
f
a
n
g
ul
a
r
v
elo
c
ity
The me
t
hod
pr
o
p
o
se
d to fo
l
l
o
w
a l
i
n
e
i
s the
o
r
e
tica
l
l
y
e
ffe
c
t
ive
if
w
e
su
p
p
o
s
e
t
h
a
t
t
he
r
esp
onse
of
t
he
e
n
g
i
n
e
s
t
o
t
h
e
c
o
m
m
a
n
d
s
s
e
n
t
b
y
t
h
e
m
i
c
r
o
c
o
n
t
r
o
l
l
e
r
i
s
i
n
s
t
a
n
t
a
n
e
o
u
s
.
B
u
t
t
h
i
s
i
s
n
o
t
t
h
e
c
a
s
e
i
n
r
e
a
l
i
t
y
,
be
cau
se
t
he
r
ob
o
t
h
as
a
n
i
n
ert
i
a
t
h
at
d
el
ays
it
t
o
t
a
k
e
the
an
g
ular
v
el
oc
it
y
ca
lc
ul
a
t
e
d
a
nd
se
n
t
by
t
h
e
m
i
croc
o
n
t
r
o
lle
r
.
H
ence
t
he
n
ee
d
to
i
ntr
o
d
u
ce
a
PI
D
re
gu
la
tor
to
c
o
m
p
e
n
s
ate
fo
r
s
p
eed
e
rro
r
s
a
s
quick
ly
a
s
pos
si
b
l
e
[2
3,
24]
.
The
F
i
gur
e
5
show
s
t
h
e
b
l
ock
d
i
a
g
r
a
m
of
t
hi
s
r
e
gul
a
t
o
r
[
25]
.
F
i
gur
e
5.
F
unct
i
o
n
a
l
d
ia
gr
am
of
the
o
p
e
r
at
in
g
pr
i
n
ci
p
l
e
of
t
he
P
I
D
r
e
gula
t
ion
o
f
ω
A
p
a
ral
l
el
P
I
D
c
o
n
t
r
o
l
l
e
r
was
u
s
ed
i
n
t
h
e
fo
rm
o
f
a
C
l
a
ngua
g
e
pr
ogr
a
m
t
ha
t
w
a
s
i
n
tr
o
duc
ed in
t
o
t
h
e
mi
c
r
o
c
on
t
r
ol
l
e
r
.
4.
AVOIDING
OBSTACLE
S
4
.
1
.
D
i
s
t
a
n
c
e
d
e
termin
a
t
io
n wi
t
h ultra
s
o
u
nd
To
m
ea
sur
e
a
d
i
s
ta
nc
e
w
i
th
u
l
t
r
a
so
u
nd,
o
n
e
m
ust
f
i
r
s
t
kn
o
w
t
he
i
r
spe
e
d
o
f
m
ovem
e
n
t
.
I
t
i
s
of
t
he
o
r
d
e
r
of
3
40
m
e
t
e
r
s
p
e
r
se
c
ond
,
so
i
t
i
s
e
asy
to
d
e
t
ermi
ne
t
h
e
d
i
st
an
ce
t
ra
v
e
l
e
d
by
t
h
e
u
l
t
r
ason
i
c
w
a
v
e
i
f
w
e
kn
ow
t
he
t
ime
it
t
o
ok
t
o
t
r
a
ve
l
the
sam
e
d
ista
nc
e.
The
u
l
tr
a
s
onic
di
st
a
n
ce
sens
or
u
se
s
the
ech
o
pr
i
n
ci
p
l
e
to
d
e
t
e
r
m
i
ne
how
f
a
r
a
n
objec
t
i
s
:
a.
A
shor
t
ul
tr
aso
u
n
d
s
i
g
nal
o
f
4
0
kH
z
f
r
e
que
n
c
y
is
s
en
t
by
t
h
e
tr
a
n
smit
ter.
b.
Th
is si
gna
l is r
efle
c
t
e
d
by
t
h
e
surface
of an
o
bsta
cle
at t
he
d
is
t
a
n
c
e
o
f
the
sens
or
.
c.
The
re
flec
t
e
d s
i
g
n
a
l
is de
te
cte
d
by t
h
e r
ece
iv
er
a
fter
tra
velin
g
t
h
e sa
me
di
s
t
a
nce
.
The
w
a
ve
m
ust
tr
a
v
el
t
w
i
ce
t
he
d
is
tance
be
t
w
e
e
n
t
he
u
lt
r
a
s
o
n
i
c
se
ns
o
r
a
nd
the
o
b
sta
c
le,
hen
c
e
t
h
e
di
st
an
ce
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st V
ol.
11,
N
o.
1
, Ma
r
202
0
:
160
–
16
8
16
6
.
2
a.
0
: Tim
e
be
t
w
een
t
ransm
i
ss
i
o
n and
rec
e
p
t
i
o
n
.
b.
0
:
Dist
a
n
ce
be
t
we
en so
u
rc
e a
nd o
b
s
t
ac
le.
c.
: V
e
loci
t
y
o
f ultra
s
ou
n
d
m
ove
me
nt
i
n
t
h
e a
r
ea
(340
m
/ s).
4
.
2
.
B
e
h
a
v
i
o
r w
i
th r
espe
ct
t
o
l
i
n
e c
r
o
sso
ver
i
n
t
he
pre
se
nc
e o
f
o
bsta
cl
es
To
d
e
t
ec
t
l
i
ne
cr
o
sso
v
e
r
,
t
h
r
ee
IR sensors
w
er
e a
dded a
s
in
F
i
g
ur
e 6.
A
n
u
ltra
s
on
ic
s
e
n
sor
moun
te
d
o
n
a
s
e
r
v
o
mot
o
r
w
a
s
use
d
t
o
sc
a
n
a
n
a
n
g
l
e
of
1
8
0
d
egre
es
a
nd
t
o
b
e
able
t
o
de
tec
t
s
ever
al o
bsta
cle
s
.
Whe
n
a
n
o
b
st
a
c
le
i
s
de
te
cte
d
j
u
s
t
a
f
ter
a
c
r
o
ssove
r,
t
he
r
ob
ot
st
op
s
on
i
t
an
d
th
e
ul
t
r
a
s
o
n
i
c
s
en
so
r
i
s
d
i
re
c
t
ed
b
y
t
h
e
se
rv
o
mot
o
r
in
s
e
a
r
ch
o
f
a
f
r
e
e
p
a
t
h
t
o
fo
llo
w
i
t
.
If
he
doe
sn
't
f
in
d
a
n
y
m
o
re
,
t
h
e
r
o
bot
st
a
y
s ar
rested.
F
i
gure
6.
C
h
o
i
c
e
of the
f
ree
li
ne
o
n
a
l
i
ne
cr
o
ss
over
5.
RESULT
S
A
N
D
ANALY
S
IS
The
ex
per
i
m
e
nta
t
io
n
o
f
t
he
p
ro
pose
d
m
eth
od
on
t
h
e
te
st
p
rot
o
ty
p
e
ga
v
e
s
atis
fac
t
or
y
r
e
sul
t
s
a
f
ter
sever
a
l
tes
t
s
a
nd
a
d
j
u
s
t
me
n
t
s
of
s
o
m
e
para
me
t
e
rs,
suc
h
a
s
the
d
is
ta
nce
h
(F
i
gur
e
2.b)
a
nd
the
pa
rame
t
e
rs
o
f
the
P
I
D
contr
o
l
l
er.
The
p
o
s
i
t
i
o
n
i
ng
ac
c
u
ra
cy
o
f
IR
s
e
n
sor
s
p
lay
s
a
n
i
mp
o
r
t
a
nt
r
ol
e
i
n
opti
m
i
z
ing
ro
b
o
t
perform
ance.
To
d
o
t
h
is,
the
IR
s
en
so
rs
w
e
r
e
mo
unt
e
d
i
n
t
h
e
rob
ot
c
h
a
ssi
s
i
n
suc
h
a
w
a
y
tha
t
t
he
y
c
o
u
l
d
sli
d
e
line
a
rl
y,
s
o tha
t
the
y
co
ul
d c
h
ange
t
he
i
r
loca
t
i
o
n for c
a
l
i
bra
t
i
o
n as
p
resent
e
d
i
n F
i
g
u
re
6.
F
i
gure
6.
t
e
s
t
p
r
ot
oty
p
e
see
n
fr
o
m
above
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
D
e
sig
n
a
nd im
plem
e
n
ta
ti
o
n
o
f
li
ne
fo
ll
o
w
e
r
an
d o
b
s
t
ac
le
de
tect
i
o
n rob
o
t
(Ahm
e
d
Ben
d
i
m
rad)
16
7
The
s
t
a
b
il
i
z
a
t
i
on o
f
the
r
ob
ot
o
n
t
h
e l
i
ne is i
m
pr
ov
e
d
a
t
lo
w
s
pee
d
, b
u
t a
t
h
ig
h
spe
e
d
t
he
sta
b
iliz
a
t
io
n
is l
i
m
i
t
ed by t
h
e
r
e
sponse tim
e
of t
he micr
o
c
o
n
t
ro
l
l
e
r
use
d, so
t
h
e
re
is a sp
eed t
hresh
o
l
d
n
ot to be
e
xcee
d
e
d t
o
adhe
re
t
o
t
h
e
l
i
n
e.
T
his spee
d
thres
h
o
l
d is al
l
the
h
i
gher
as t
he
m
icrocontroller
i
s
powerful
.
6.
CONCL
U
S
IONS
O
u
r
ob
jec
tive
w
a
s
to
d
e
s
ig
n
a
l
i
ne
f
oll
o
w
e
r
a
n
d
obs
tac
l
e
de
t
e
c
t
or
r
ob
o
t
d
es
ig
ne
d
for
a
u
t
o
nomo
u
s
nav
i
gat
i
on
a
l
o
n
g
a
b
l
ack
lin
e
o
n
w
hi
te
g
ro
un
d,
u
si
n
g
a
t
e
c
hn
i
q
u
e
b
a
se
d
o
n
t
h
e
c
a
l
cul
a
ti
on
o
f
t
h
e
cu
rv
atu
r
e
radi
us of
t
h
e l
i
ne
, avo
i
din
g
a
ny o
b
st
ac
l
e
s t
h
at
m
ay ex
i
s
t
on
t
h
is l
ine.
i
n th
e eve
n
t
of a lin
e cr
osso
ver
,
t
h
e
r
obot
is a
b
l
e t
o
c
hoo
se
t
he fre
e
l
i
ne am
ong
o
t
h
ers t
h
a
t
a
re occ
u
p
ie
d
by
o
bs
tacl
e
s
.
t
h
e beha
vio
u
r of the
tes
t pr
otot
y
p
e
w
a
s
sat
i
sfa
c
t
or
y
a
t
l
ow
s
pee
d
.
The
ad
d
i
tio
n
of
a
d
ista
nc
e
s
e
ns
o
r
a
t
t
h
e
r
ear
t
o
avoi
d
o
b
s
t
a
c
l
e
s
i
n
t
h
e
op
po
sit
e
direc
t
i
o
n w
o
u
l
d be
a
n impor
ta
nt
a
d
d
i
t
i
o
n
t
o
t
h
is r
ob
ot,
in a
dd
i
ti
o
n
to o
t
he
r
improve
me
nt
s
in ge
n
e
r
al.
REFE
RENCES
[1]
M
.
Z
af
ri
B
aharud
di
n,
I
zham
Z
.
Ab
idin
,
S
.
S
u
l
aim
a
n
K
a
j
a
M
o
h
ideen
,
Y
a
p
Keem
S
i
a
h,
a
nd
J
e
f
f
r
ey
T
an
T
o
o
C
huan,
An
al
y
s
is o
f
Li
ne
S
e
ns
or
Co
n
f
ig
u
r
at
ion
f
o
r th
e
Ad
vanced
L
i
n
e
Follower
Ro
bo
t
, U
n
ivers
i
ti
Ten
ag
a Nasi
onal, 2006.
[2]
P
u
s
hkar
Go
e
l
,
G
eeti
k
a
A
r
ora,
a
n
d
V
.K.
P
a
nch
a
l,
"
Inco
rpo
r
ati
ng
P
er
cepti
on
R
adius
to
t
he
L
i
n
e
Foll
o
w
er
R
obot",
Pr
oceedi
n
g
s
of 3rd
Int
e
rn
a
tio
nal
Con
f
er
ence o
n
Reli
ability,
In
f
o
com
T
echn
o
l
o
g
i
es and
Op
ti
m
i
za
ti
o
n
,
pp
.
1
-
5,
2
01
4.
[3]
S
u
ry
a
prak
ash.
M,
A
j
a
y
Vig
n
esh
.
K,
S
hy
a
m
sunth
a
r.
J,
R
am
an.
K
,
S
e
nt
h
il
Raj
u
.
J
,
an
d
Raj
u
.
N
,
"Com
pu
ter
Vision
Ass
i
s
t
ed Line Fo
ll
o
w
ing
Robot",
In
tern
atio
nal Confer
ence o
n
M
odelin
g,
Opti
miz
a
t
i
o
n
a
n
d
Com
puting
,
20
12
.
[4]
Larry
A
nd
rés
Pérez
S
á
n
c
h
ez,
C
esar
A
u
gus
to
A
ceros
M
o
r
eno
,
a
n
d
H
o
lg
uer
Andrés
B
ecerra
D
a
za,
"
Desi
gn
a
n
d
c
o
nstr
uc
tio
n
o
f
a
line
f
ol
lo
we
r
rob
o
t
g
u
ide
d
b
y
pixe
ls
v
a
l
ue
s
o
f
a
camera
co
n
n
ect
ed
t
o
a
n
F
P
GA",
20
15
2
0
t
h
Sym
p
o
s
iu
m o
n
S
i
g
n
a
l
Pro
cess
i
ng,
Im
ages a
nd
Co
mp
ut
er
Visio
n
(
S
T
S
IVA)
,
p
p
.
1-
5,
20
1
5
.
[5]
Kazi
M
ahm
u
d
H
a
san
,
A
bd
ull
a
h-A
l
-Nahid
,
an
d
Abd
u
l
l
ah
A
l
M
a
mun
,
"
I
m
p
l
e
m
e
nt
a
tio
n
o
f
a
uto
n
o
m
ous
l
in
e
f
o
llo
wer
robot
,
"
IE
E
E
/
O
S
A
/I
APR
Internat
ional
C
o
n
f
erence
on
In
f
o
r
m
a
tics
,
E
l
ectr
onics
&
Visi
on
,
pp.
8
65
-869,
2
01
2.
[6]
Has
a
n
U.
Z
am
a
n
,
M
d
.
M
a
j
i
dul
H
aq
ue
B
hui
yan
,
M
o
n
t
a
shir
A
hmed
,
a
n
d
S
.M
T
arek
A
zi
z,
"
A
No
v
e
l
D
e
sig
n
o
f
Li
n
e
Follow
i
ng
R
ob
ot
W
ith
M
u
l
t
i
fa
ri
ous
Function
abilit
y
,
"
IE
EE
Int
e
rna
t
i
o
n
a
l
Con
f
er
e
n
ce o
n
M
i
cr
oelect
ro
n
i
cs
,
Com
putin
g
a
nd Com
m
u
n
icati
ons (
M
icr
o
Com)
, 20
1
6
.
[7]
Fatima R
.
A
l
i
and Abdulmu
t
ta
li
b
T
.
R
as
hid,
"Des
i
g
n
an
d
i
m
p
l
e
m
e
nta
tio
n of
s
ta
ti
c
an
d d
y
n
a
mi
c ob
ject
s sto
r
e sy
s
t
em
s
us
in
g
l
i
n
e
f
o
l
lower
ro
bo
ts
,
"
Int
e
r
n
a
t
i
o
n
a
l
Conferen
ce o
n
A
d
va
nces
in
Su
st
a
i
n
a
b
l
e Eng
i
n
eerin
g
an
d
i
t
s
Ap
plica
t
i
ons
,
pp
.
3
7-42
,
2
0
1
8
.
[8]
M
i
ch
al
K
e
l
em
en,
D
a
ni
el
J
ohn
C
ol
vill
e,
T
atian
a
K
elem
en
ová,
Ivan
Virg
ala,
a
n
d
Ľ
ub
ica
Mi
k
o
v
á
,
"
Ed
ucat
io
n
a
l
Mod
e
l
o
f
L
i
ne
F
o
llo
w
e
r
Ro
bo
t L
I
NA 20
10
,"
S
o
lid
St
a
t
e
Ph
enom
ena
Vols 22
0-2
2
1
,
pp
.
9
89-9
9
4
,
201
5.
[9]
S
i
t
i
N
ur
H
an
is
ah
U
m
a
r,
E
lmi
Ab
u
Bakar,
M
o
hd
Sh
uk
ri
S
oaid,
a
nd
Z
a
h
ur
i
n
S
a
m
a
d
,
"
S
tu
dy
o
n
m
u
lt
i
t
a
s
k
s
o
f
l
in
e
f
o
l
l
owin
g
diff
erenti
al
w
h
eeled
m
ob
il
e
ro
bot
i
n-cl
ass
p
r
oject,
"
Int. J
.
Mo
de
l
l
ing
,
Id
e
n
t
i
f
i
c
a
t
i
o
n
an
d
Co
ntro
l
,
vo
l
.
21
(1),
2
01
4.
[10]
Vítor
Gabrie
l
R
e
is
C
ait
i
té,
D
i
e
g
o
M
a
radon
a
G
o
n
ç
al
ves
d
o
s
S
a
n
t
os
,
Iag
o
C
o
n
cei
ção
G
regó
rio,
W
ill
i
an
B
raga
d
a
S
i
l
v
a,
a
nd
V
i
c
tor
F
l
ores
M
end
e
s,
"D
iff
u
sio
n
o
f
Ro
botics
t
h
ro
u
g
h
Li
ne
F
ollow
e
r
Robots,"
2018 L
a
tin
America
n
Robot
i
c Symposium,
B
r
azilia
n
Symposi
u
m on
R
o
botics (
S
B
R
) and 2018
W
o
rk
shop on Robot
i
c
s
i
n
Educa
t
ion
(W
R
E
)
, pp
.
6
04
-
6
09
,
2
0
1
8
.
[11]
M
d
.
Bad
r
udu
ja
B
hu
iy
a,
"
Co
nt
rol
l
in
g
Lin
e
F
o
ll
o
w
er
R
o
b
o
t
w
i
t
h
the
R
em
o
t
e
Web
S
e
rv
er,
"
P
r
o
ceedin
gs
of S
A
I
Int
e
ll
igen
t S
y
st
ems
Conferen
ce
(
I
nt
ell
i
Sys)
,
p
p
5
5
9
-
58
3,
2
01
6.
[12]
F
Kai
s
er,
S
Isla
m
,
W
I
m
r
an,
K
H
K
h
an
,
and
K
M
A
Isl
a
m
,
"
Lin
e
f
o
l
l
ower
r
ob
ot
:
F
a
b
r
i
cation
and
accu
rac
y
m
easu
r
em
en
t
b
y
d
ata
acqu
i
si
tion
,"
Int
e
rn
ati
onal
Con
f
er
ence o
n
E
l
ect
ri
c
a
l En
gin
eeri
n
g
an
d
Info
rm
a
t
ion
&
Com
m
un
icati
on T
echn
o
lo
gy
,
pp.
1-6
,
2
014
.
[13]
S
e
yed
E
h
s
a
n
Marjani
Baj
e
s
t
ani
an
d
Ars
h
am
V
o
s
ou
gh
inia,
"Techn
i
ca
l
Report
o
f
Bui
l
ding
a
L
i
n
e
Follow
e
r
Robot
,"
IEEE Interna
t
ional Con
f
e
r
ence on
Elect
ron
i
c
s
and
Infor
m
ation
E
n
gineer
ing
,
2010.
[14]
S
n
eh
al
K
o
k
are,
R
ajv
eer
S
h
a
stri,
and
S
h
rik
r
is
hn
a
K
o
l
h
ar,
"Lin
e
F
oll
o
w
e
r
w
i
t
h
O
bst
acle
Inf
o
rmatio
n
S
y
stem
U
s
i
ng
Zi
gBee,"
Fou
r
th
In
te
rna
t
io
na
l C
o
nfe
r
e
n
c
e
on
Comp
ut
in
g Co
mmu
n
ic
at
io
n Co
n
t
ro
l
a
n
d
Au
to
mat
i
o
n
, p
p.
1-5
,
2
0
1
8
.
[15]
M
e
hran
P
akd
a
m
a
n
and
M
.
M
ehdi
S
an
aati
y
an,
"Des
ign
a
n
d
Im
pl
emen
ta
tio
n
of
L
ine
Fo
ll
ow
er
R
ob
ot
,
"
2
009
Secon
d
Int
e
rna
t
i
o
n
a
l
Co
n
f
er
e
n
ce on
Com
p
u
t
er
an
d
E
l
ect
rica
l
E
ngin
eering
,
vol.
2,
p
p.
585-5
90,
2
0
0
9
.
[16]
F
azal
N
oo
r,
M
oh
am
med
S
w
ai
ed
,
M
o
ath
AlM
e
sned,
and
Nass
er
A
l
M
uz
i
n
i,
"
A
M
e
t
hod
t
o
D
e
te
ct
O
bj
ect’s
W
i
d
t
h
with
U
ltra
so
n
i
c
S
e
nsor,"
IEEE In
te
rn
a
t
io
na
l
Co
nfe
r
e
n
c
e
on
Co
mp
utin
g,
El
e
c
t
r
o
n
i
c
s
&
Com
m
u
n
icati
ons
En
gi
neeri
n
g
, 20
1
8.
[17]
S
u
n
Zhi,
Y
ang
Y
i
,
a
n
d W
a
ng
Z
hi-s
hen
g
,
"
D
e
sign
of d
is
tance
m
e
asu
ri
ng
and
revers
i
n
g
s
ystem,
"
IEEE 3
r
d
A
d
van
ced
Inf
o
r
m
a
tio
n T
ech
no
log
y
, Elect
ric
and
Auto
mati
o
n
Con
t
ro
l
Conf
e
r
en
ce
, 2
01
8.
[18]
N
u
r
u
l
H
a
sa
n
a
h
,
A
li
Hu
se
in
A
lasi
ry,
and
B
a
mbang
Sumant
r
i
,
"Two
W
h
eels
Li
ne
F
o
l
l
o
wing
B
alan
cin
g
R
o
b
o
t
Con
t
rol
u
s
i
n
g
Fu
zzy
L
o
g
ic
a
nd
P
ID
o
n
S
l
op
ing
S
u
rf
ace,"
In
te
r
n
a
t
io
na
l
El
ectro
ni
cs Sym
pos
ium on
E
n
g
i
neer
in
g
Te
c
h
no
log
y
an
d Applicat
ions
, 20
1
8
.
[19]
M
o
h
d
Zik
rul Ha
k
i
m
bin
No
or,
Moh
d
S
y
a
fiq bi
n
M
o
hd
Z
ai
nu
dd
i
n
,
M
u
h
am
m
a
d
F
a
rid
b
i
n
S
aaid,
a
nd
M
egat
S
yah
i
rul
Ami
n
b
in
M
egat
A
li,
"Desi
g
n
an
d
Co
ncept
u
al
D
ev
elo
p
m
e
nt
o
f
a
S
u
n
ba
th
e
La
u
n
d
r
y
Ro
bo
t,"
IEEE
8th
Interna
t
ional
Col
l
oq
u
i
um on
S
i
gn
al Pr
oces
sin
g
and
i
t
s Ap
pli
c
atio
ns
, 2
01
2
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st V
ol.
11,
N
o.
1
, Ma
r
202
0
:
160
–
16
8
16
8
[20]
Ku
nal
Kh
ade,
R
evat
i
Naik
,
and
Am
ey
P
a
t
il,
"Des
ign
o
f
a
ll
co
l
o
r
line
f
o
l
l
ower
s
ensor
with
a
uto
calibration
abil
it
y
,
"
IEEE 7th In
t
e
rnati
o
na
l Sym
p
osium on Embedded Computi
ng and Syst
em
D
e
si
gn
,
20
17
.
[21]
F
Ka
ise
r
,
S
I
s
la
m,
W
I
mra
n
,
K
H
Kh
a
n
,
a
n
d
K
M
A
I
s
la
m
,
"
Lin
e
F
o
llo
wer
Rob
o
t:
F
abricat
io
n
and
a
c
c
u
r
a
c
y
m
easu
r
em
en
t
b
y
d
ata
acqui
siti
on,"
IEEE
Intern
atio
nal Co
nfer
ence o
n
Electri
cal En
gin
eeri
ng an
d
In
fo
r
m
ation
&
Com
m
un
icati
on T
echno
lo
gy
,
2014.
[22]
M
u
s
t
a
f
a
E
ngi
n
and
Di
ls
ad
E
ngin,
"
P
a
th
p
l
a
nning
o
f
li
ne
f
oll
o
w
e
r
r
ob
ot,
"
5t
h E
u
r
opea
n
DSP E
duca
t
i
o
n
an
d
Res
e
arch
Con
f
erence (
E
D
E
R
C
)
,
pp
. 1-5
,
2
0
1
2
.
[23]
Z.
U
l
Ab
i
d
een
,
M
.
B
il
al
A
nwar,
and
H
a
ss
an
T
ariq
,
"
D
ual
P
u
rp
os
e
Cart
esian
Inf
r
ared
S
ensor
A
rray
Based
PI
D
Con
t
rolled
Lin
e
F
o
l
l
o
w
e
r
Ro
bot
f
or
M
edical
A
pp
li
cati
ons,
"
IE
EE
Inter
natio
na
l Confer
ence on
E
l
ectr
i
c
a
l
En
gi
neeri
n
g
, 20
1
8.
[24]
Ish
r
aq
U
l
Haqu
e,
A
b
u
l
Al
A
rabi
,
S
h
adat
H
o
ssai
n
,
T
a
njin
a
P
r
om
a,
Naf
i
U
zzam
a
n
,
and
M
Ash
raf
u
l
A
m
in
,
"
V
is
io
n
Based
T
r
aject
ory
F
o
llowi
ng
R
obo
t
an
d
S
w
arm
,
"
IEE
E
2n
d In
tern
at
io
nal Con
f
er
e
n
ce
on
Co
nt
ro
l an
d Ro
boti
c
s
En
gi
neeri
n
g
, 20
1
7.
[25]
Al
exia
T
o
u
m
p
a,
A
lexan
d
ro
s
Kouris
,
Fo
ti
o
s
D
imeas,
and
N
i
k
o
s
As
pr
ag
ath
o
s,
"
Con
t
rol
of
a
l
i
n
e
f
o
ll
o
w
ing
ro
bot
bas
e
d
o
n
F
SM
e
s
t
i
m
a
tio
n
,
"
Un
iv
e
r
si
ty
o
f
P
a
t
r
as
,
vo
l.
51,
p
p
.
5
42
-547
,
G
ree
ce,
2018
.
Evaluation Warning : The document was created with Spire.PDF for Python.