Design and Implementation of a Vision Based Four-Wheeled Line Track Robot

The method of designing a path-tracking robot, which can stably run on an arbitrary raceway with its speed maximized, is presented. A CCD camera is used to acquire the guide line information, so image processing is required. A predictive position find and lens distortion correction(PFDC) algorithm is proposed. Two associated problems---path optimizing and speed control problems, are considered for speed maximization. The proposed method has been applied to a four-wheeled mobile robot. The experimental results show a good performance of the robot.