Abstract

Line follower robot is an autonomous robot that can follow the paths. The trail can be a black line on a white surface, or vice versa. So far, most researchers designed a line follower robot PID (Proportional-IntegralDerivative) control to the track with a relatively blunt corner, but in this study, PID control system applied to the line follower robot to discover three types of trajectories with extreme angles. This robot uses eight sensors assuming 1 or 2 sensor touch that line the track with 2 cm thick. In the experiment max. speed PWM 100 tunning PID that is best obtained Kp = 3, Ki = 3 and Kd = 0, generate the time to reach the finish to field A, B and C respectively by 3.59 s, 3.10 s and 3.69 s. As for the max. 255 PWM speed that is best obtained tunning PID Kp = 5, Ki = 5 and a Kd = 5, resulting in time to the finish line to field A, B and C respectively of 2.67 s, 2.46 s and 2.78 s. Maximum speed heavily influence the PID tuning for extreme track, this is because when the high speed require the PID system response time is relatively fast and stable.So PID for some PWM speed cannot be implemented to other PWM speed

Authors and Affiliations