Circular-Line Trajectory Tracking Controller for Mobile Robot using Multi-Pixy2 Sensors

TL;DR

This paper introduces a novel line tracking method for mobile robots using three Pixy2 sensors and a sliding mode controller, demonstrating effective trajectory tracking through simulation results.

Contribution

It proposes a new tracking approach utilizing multiple Pixy2 sensors and a sliding mode controller, replacing traditional perception methods.

Findings

Effective trajectory tracking demonstrated in simulations

Kinematic model derived from Pixy2 sensor data

Sliding mode controller successfully regulates tracking error

Abstract

This study suggests a novel tracking method that employs three Pixy2 sensors to identify the desired line trajectories instead of traditional perceiving means. Firstly, the kinematic model of the mobile robot is derived from the information gathered by three Pixy2 sensors. Secondly, the sliding mode controller is implemented to regulate the tracking error. Finally, simulation results are analyzed to show the effectiveness of the proposed method.