Sweeper Arm Mechanism Design on the Line Follower Robot with Path Sensing Algorithm and Curvature-Driven Kinematic

Abstract

This paper presents the development of a sweeperarm mechanism implemented on the line follower robot. The development is intended to improve the curvature-driven kinematic method currently use on a line follower robot by eliminating the fixed sensor array and replaced with a sweeper arm. The sweeper arm mechanism enables the robot to move freely while following the path without interfering with the robot’s movement. The potentiometer inside the sweeper arm enables the robot to read the path more accurately with higher resolution than a conventional fixed IR sensor array. The path sensing algorithm allows the robot to track various path characteristics. The curvature-driven kinematic lets the robot optimize speed based on curve radius. To measure the result, the test track and test bench were created. The test bench was used to test the functionality of the sweeper arm. The test track ensures that everything on the robot can work together in a realworld track. The results show that the robot can follow the curve smoothly and is reliable, demonstrating that the approach is more practical for high-speed applications. Although the prototype did not test at full speed due to physical limitations, it proves to be functional as intended.