Dual Purpose Cartesian Infrared Sensor Array Based PID Controlled Line Follower Robot for Medical Applications

The line following robot (LFR) is used for many applications such as irrigation system, library management, shopping malls etc. Some of them have fast speed with the lowest accuracy and vice versa. There are a lot of methods to make a LFR but for high quality performance designing is very necessary along with proper algorithm. Similarly, this paper includes the implementation of PID controller with the Cartesian sensor array on a line following robot (LFR) with dual purpose lines, such as a white line with a dark surface or vice versa. This LFR is modelled with implementing the inverse kinematics and calculating the step response of DC motor with state space modeling. The basic aim of this research is to make a LFR which follows any tough path with utmost efficiency. The implementation of the Cartesian sensor array improves the speed and accuracy because it has a versatile feature to move the LFR on an inclined surface. For smooth and swift drive sensor adjustment algorithm incorporate the PID based algorithm, where feedback is taken by Infrared sensors (IR) that serves as a process Variable to calculate Error Signal. The LFR is implemented on hardware using the local electronic components and then testing of the LFR accomplish in many complex arenas which have all possible curves. This design is extremely stable and efficient to implement in many applications especially dominated in the medical field.