Abstract

Abstract

Abstract
Line-following robots have the ability to recognize and follow a line drawn on a surface. Elements of their operating principles could be used in the evelopment of numerous autonomous technologies, with applications in education and industry. A simulator has been developed to aide in performing several trials in order to validate a project. By taking the Pololu 3pi Robot as the model, the proposed solution simulates its physical structure, behavior, and operations-being able to read lines on surfaces-enabling the user to observe the robot following the line according to the code used. This paper aims to validate the developed simulator as an alternative to ease the process of learning to use the 3pi platform applied in both educational and competitive environments.

Abstract
Line-following robots have the ability to recognize and follow a line drawn on a surface. It works based on a simple self-sustainable system composed with a set of sensors, motors and a controller. In order to get optimal performance in such robots, it's necessary to carry out several tests to evaluate the behavior in each trial. In the majority of cases, a new trial requires to upload a new program, thus slowing down the development of the line-following. This paper presents an approach to solve the inconvenience of having to upload a new program in each trial. It consists in merging multiple codes in to one to create a program that gives the user the ability to switch between them anytime inside Pololu's 3pi line follower platform.

Abstract
Line-following robots can recognize and follow a line drawn on a surface. Their operating principles have elements that could be used in the development of numerous autonomous technologies, with applications in education and industry. This class of robots usually represent the first contact students have with educational robotics, being used to develop students' logic thinking and programming skills. The cost of robotic platforms is still prohibitive in low-budget schools and universities, which makes almost impossible having a platform for each small group of students in a classroom, harming the learning process. This work proposes a 3D web-based open-source simulator for Pololu's 3Pi line-following robots, making such technology more accessible and available even for distance learning courses. The developed software simulates the robot's physical structure, behavior, and operations-as being able to read surfaces-, enabling the user to observe the robot following the line as the code commands. The simulator was validated based on experiments that included motion analysis and time measurements of pre-stablished tasks so that its execution could be more coherently based on what happens in reality.

Abstract