3comparing control strategies for automomous line-tracking robots.pdf

e 10 +35159 +35128 is a on in in of In of is to to a on In to do a to of a of It in of of of 1 is an a in to in an to a o of to a an $ 1998 42 of l. to of on to l of to a to of as as is to is a to as as to of In a of of In in 2 he by in ) is by C i5 to or 98 - to of is by a of of of of is by to of of of . to a 2). To M) of a), B,) R) , in of as of 5) be to V). is l to v) 0) of on to , he to a of in 2. In in a to an as to of a in l a is to e) on of to is as in to to in to an In e) is on xo,yo,it is to of to e (3). of e to of is to , an &). If is it is if is of is In an a mm to or ,.+:? . he of of it it to of by . 43 he in a of of of lm 0 80 is in 4 a of 30m. U it to so it to is to e to n is to , be to ,. to ,. be to of is to as on or in of To to nd . is a 00 he as in in 96 of a ay of 1,3. =g of =0,7 to m,= 1 R=7 Q m=) m b=m v=40 Kg/s ,=s of of =O. 18 m 3 s be 2, V, d,to is is e of as by If is it be e to is in . is to be is by . n be as in 1). In it be of to a V, as a of e as be to a to it at in of as 1) be To of by v.is of 44 0 04 of is to a e. p is to in a as it is it is to by of , a p=200, in in . a AE 5.1 SE 9 mm In of of is . ,. . . . . . a p=200. to by of is to a in to a to in 6. Kp*e+Kd*of Kp d, of in p=200 200. 3 mm AE It is by of an to p d. 200 400 600 000 -0 t) . a PD p=00. ,= 3 mm AE A is is of to in to a of is in in be as a of by an to to to of or . . . . 0 200 400 600 800 1000 . a PD p=400 380. 545 be it in of is II(e). p=200, ,=it to 25 No to D of a of is of a in he be an to it is , PD ID it is to it is on by 4. In a of is 51. e) is he be on . of is a 2D in a to 1 . a D to to of a he of to a in is a in a 6. is . P is or is to e is ce is in is a p is a to on it is 0 of to up to D 0 AE 0 is As as of an to OC to as be in . 0. AE 46 to of of in to a by of a 2 8 a 7 000 it to a a as be in . 4 of of N) it is to of an A PD an is to is up to of D , is in D a a 0s 0m. a PD is or is no of to be ID is to in be D. of is to it is in by or in . to an % P D( 10 (15 7 6 8 8 7 9