Optimizing the Performance of Line-Following Robots: Sensor Fusion of Encoders, Gyroscope, and Accelerometer Using Different Filters

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dc.contributor.advisorHusam Abdulkareem, Almusawi
dc.contributor.authorLu, Xiaodong
dc.contributor.departmentDE--Műszaki Kar
dc.date.accessioned2025-05-12T08:34:05Z
dc.date.available2025-05-12T08:34:05Z
dc.date.created2024-12-19
dc.description.abstractThe line following robot is widely utilized in a variety of applications, including material handling and commodities sorting in industrial automation, as well as guiding tasks in service robots. However, existing line following robots continue to confront challenges in dynamic speed adjustment, particularly in attaining steady and efficient operation under complex path conditions. In order to solve these problems, this thesis investigates the development of a control system with the objective of optimizing the motion performance of line following robots, and proposes an implementation method that combines an optimized velocity strategy with 2-loop PID control. The control strategy applies sensor fusion, which realizes real-time detection of path characteristics and precise feedback of motion states by integrating information from infrared sensors, encoders and inertial measurement unit (IMU). Through MATLAB/Simulink simulation and experimental validation, the method significantly improves the robot's motion performance under a multi-curved path and reduces the deviation relative to the predefined path in the path following motion.
dc.description.courseMechatronics Engineering
dc.description.degreeBSc/BA
dc.format.extent67
dc.identifier.urihttps://hdl.handle.net/2437/389812
dc.language.isoen
dc.rights.accessHozzáférhető a 2022 decemberi felsőoktatási törvénymódosítás értelmében.
dc.subjectLine following robot
dc.subjectmotion performance optimization
dc.subjectsensor fusion
dc.subject2-loop PID control
dc.subjectmotion performance optimization
dc.subject.dspaceEngineering Sciences
dc.titleOptimizing the Performance of Line-Following Robots: Sensor Fusion of Encoders, Gyroscope, and Accelerometer Using Different Filters
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Theses (Department of Electrical Engineering and Mechatronics)