Návrh a realizace mobilního robotu pro soutěž Sledovač čáry

Abstract

This Bachelor’s thesis focuses on the design and implementation of a mobile robot intended for the Line Follower competition. The main objective is to create an autonomous system capable of accurately tracking a marked path while optimizing speed with respect to competition time. The theoretical section includes an analysis of existing solutions, a review of control algorithms, and a description of the theoretical background of key components. The practical part details the design of a custom PCB in Autodesk Fusion, mechanically 3D-printed components, and the implementation of the control algorithm on the ESP32 platform. A key component of the implementation is a cascaded PID control system combining an outer position control loop with an inner motor speed control loop utilizing Hall encoder feedback. The quality of the speed controller was evaluated using the ITAE criterion through step response analysis. The robot’s functionality was verified through testing on a custom track and suggestions for future improvements are proposed.