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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: email

Intelligent Automation & Soft Computing 2023, 35(1), 901-911.


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.


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.

cc 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.
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