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Proceedings Paper

Line following for a mobile robot
Author(s): Bradley O. Matthews; Michael A. Ruthemeyer; David Perdue; Ernest L. Hall
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Paper Abstract

A mobile robot has been designed which incorporates line following, obstacle avoidance and speed control. The line following algorithm images two windows and locates the centroid of the brightest target in the window. From these two centroids and the knowledge that the points are in the ground plane, the equation of the line is developed. The angle of the line and minimum distance from the robot centroid are then calculated and used in the steering control. This robot was designed for the 1995 Automated Unmanned Vehicle Society/Society of Automotive Engineers contest and won first place in the design competition.

Paper Details

Date Published: 3 October 1995
PDF: 8 pages
Proc. SPIE 2588, Intelligent Robots and Computer Vision XIV: Algorithms, Techniques, Active Vision, and Materials Handling, (3 October 1995); doi: 10.1117/12.222714
Show Author Affiliations
Bradley O. Matthews, Univ. of Cincinnati (United States)
Michael A. Ruthemeyer, Univ. of Cincinnati (United States)
David Perdue, Univ. of Cincinnati (United States)
Ernest L. Hall, Univ. of Cincinnati (United States)


Published in SPIE Proceedings Vol. 2588:
Intelligent Robots and Computer Vision XIV: Algorithms, Techniques, Active Vision, and Materials Handling
David P. Casasent, Editor(s)

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