Line Tracking with Pixy Cameras on a Wheeled Robot Prototype

Abstract

In this paper, an algorithm is proposed for line tracking and object recognition by using an Arduino controller and a Pixy camera. With the application of a differential-driven wheeled robot, it is possible to track lines and recognize objects, which can all be implemented in the industrial application such as AGVs. The proposed algorithm takes central points by a forward facing Pixy camera, in order to perform the movement of tracking successfully with the correlation of a wheeled robot. By tracking the red color, the Pixy camera can identify which path to follow, distinguishing the bright hue over the contrast color of the floor, which avoids confusions. Labeling the objects with a specific color allows Pixy camera to understand which object is the target one.