This research describes the development of a control
strategy to optimize a competitive line follower robot for standard
races. The innovative approach stems from the WolfBotz team
at CEFET/RJ, presenting a thorough exploration of mathematical
foundations, hardware design, control analysis, and how
to implement this system in a microcontroller. This research
complements a previous work that shows all the regulations used
in Brazilian competitions and describes the controllers used in
the system, such as angular and linear control. This research
emphasizes all the changes between the two versions of Line
Follower robots. The emphasis on mathematical foundations and
integrating digital signal processing techniques like digital filters
set the stage for robust sensor data interpretation. The tuning
and optimization of dual controllers for track stability and linear
velocity regulation represent a significant innovation, augmenting
the robot’s overall performance.The authors would like to thank CEFET/RJ and the Brazilian
research agencies CAPES, CNPq, and FAPERJ for supporting
this work. Besides, the authors are grateful to the
Foundation for Science and Technology (FCT, Portugal) for
financial support through national funds FCT/MCTES (PIDDAC)
to CeDRI (UIDB/05757/2020 and UIDP/05757/2020)
and SusTEC (LA/P/0007/2021).info:eu-repo/semantics/publishedVersio
