Epsilon8854 / High-Speed_LineTracer

High-Speed_LineTracer

Overview

1.5~2.4m/s정도의 속도로 달리는 라인트레이서입니다. 적외선 센서를 이용하여 검/흰을 판단하며 Cortexm과 Stepping모터를 활용하여 구현하였습니다. 다음과 같은 기술들이 사용되었습니다.

This is a Linetracer that runs at a speed of 1.5-2.4m/s. It is developed using Cortex M and Stepping motors .It also uses infrared sensors to recognize black and white. The following technologies were used

• High Speed Filter

  To remove the dc component which caused by natural light

• PID controller

  To Control the speed & steer

Video

H/W Specification

• Power: 48V, 460mAh, 15~30C
• Motor: KH42J
• Motor driver: SLA7026
• MCU: stm32f103ZET