Vol.35, No.1, 2023, pp.901-911, doi:10.32604/iasc.2023.027614
Vision Navigation Based PID Control for Line Tracking Robot
  • Rihem Farkh*, Khaled Aljaloud
College of Engineering, Muzahimiyah Branch, King Saud University, P.O. Box 2454, Riyadh, 11451, Saudi Arabia
* Corresponding Author: Rihem Farkh. Email:
Received 21 January 2022; Accepted 13 March 2022; Issue published 06 June 2022
In a controlled indoor environment, line tracking has become the most practical and reliable navigation strategy for autonomous mobile robots. A line tracking robot is a self-mobile machine that can recognize and track a painted line on the floor. In general, the path is set and can be visible, such as a black line on a white surface with high contrasting colors. The robot’s path is marked by a distinct line or track, which the robot follows to move. Several scientific contributions from the disciplines of vision and control have been made to mobile robot vision-based navigation. Localization, automated map generation, autonomous navigation and path tracking is all becoming more frequent in vision applications. A visual navigation line tracking robot should detect the line with a camera using an image processing technique. The paper focuses on combining computer vision techniques with a proportional-integral-derivative (PID) controller for automatic steering and speed control. A prototype line tracking robot is used to evaluate the proposed control strategy.
Line tracking robot; vision navigation; PID control; image processing; OpenCV; raspberry pi
Cite This Article
R. Farkh and K. Aljaloud, "Vision navigation based pid control for line tracking robot," Intelligent Automation & Soft Computing, vol. 35, no.1, pp. 901–911, 2023.
This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.