Development of Line Follower Robot with Camera Surveillance System

Abstract

This study describes the development of a line follower robot for a surveillance camera monitoring system. An effective closed loop control fuzzy logic algorithm is used to constantly correct wrong movements of the mobile robot using a feedback mechanism. The robot senses a black line on a white surface and endeavors itself accordingly to follow the track. A manual navigation system has also been designed to overrule the automatic navigation control of the robot to reposition itself back on the track whenever it strays from the path unintentionally. The fuzzy controller algorithm is an advanced method to ensure the line follower robot moves accurately on the track. It is a replacement control technique of traditional switching method. To fuzzifying the digital input data of four infrared sensor that detecting the line, the data is converted into error and delta error that represent the current and previous position of the robot relative to the line that it follows. There are nine base rules that have been created with two inputs which are error and delta error to the robot direction whether to go to the right, move forward or to the left. Then, for defuzzification, center of sum and centroid of area method have been used to calculate the defuzzied value using trapezium area formulae. Based on the comparison between both control techniques, it is found that the line following surveillance robot with fuzzy logic controller works faster than conventional switching method to complete the same task with the average oscillation length using the fuzzy logic controller is reduced to half.