Autonomous navigation and speed control for line following robot
Dimitar Nikolov, Georgi Zafirov, Ivan Zh. Stefanov, Kaloyan Nikov, Stela Angelova Stefanova · 2018
This paper presents a model of autonomous control of a line following robot with ability know its position, to control speed and lateral position and to overcome different obstacles. The location is based on continuous speed and length measurements filtered through a histogram filter and compared to a predetermined map. The current position is determined by markov process histogram filter and the error in measurements is embedded in calculating the location probability.