Line Following Robot with Real–Time Viterbi Track–Before–Detect Algorithm

نویسندگان

  • Grzegorz MATCZAK
  • Przemysław MAZUREK
چکیده

Line following robots are applied in numerous application areas. High reliability of the line estimation could be obtained by the application of Track–Before–Detect algorithms, like Viterbi algorithm. The hardware and software of the robot are shown in the paper. Real–time constraint are discussed in this paper, related to the constructed robot. The obtained results shows the possibilities of tracking the single line using Raspberry Pi v.2 and Linux operating system. Streszczenie. Roboty śledzące linie znajdują zastoswania w wielu miejscach. Dużą niezawodność estymacji można osiągnąć stosując algorytmy TBD w tym Algorytm Viterbiego. W pracy pokazana część sprzętową i programową robota. Ograniczenia czasu rzeczywistego są poruszane w odniesieniu do robota. Pokazano, że można śledzić linię dzięki układowi Raspberry Pi v.2 i systemowi operacyjnemu Linux. (Robot Line following z algorytmem czasu rzeczywistego TBD)

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تاریخ انتشار 2017