Mobile robot painted dashed lines as road markings

摘要

Abstract Painting road markings is one of the infrastructure works that can provide road markings on roads. The fuzzy method is used as a value to determine the midpoint of the width of the road and the robot is on the middle side of the road, then produces a velocity value on the robot that is maintained by the PID method. The result is that the robot can detect the sidewalk with an ultrasonic sensor on the difference of the right sensor error 0.2 cm and the left sensor 0.5 cm through comparison of detection by the sensor and the ruler. The robot can maintain speed and the output value produced by fuzzy speed is 30, then used as input by the PID method with constant values Kp = 2.5, Ki = 0, and Kd = 0.8. The process of painting using a roll model paint tool produces a length of painting 29-31 cm and a long line breaking range of 25-27 cm with a white line width of 8.5-9 cm.