Linjeföljare med STM32 - Med fokus på konstruktion och implementation

Abstract

This bachelor thesis aims to design and construct a line follower. A line follower is a robot which follows some kind of path, in this case a black line on a white surface. A prototype was constructed early in the project and was used as a test platform for the final line follower. The robot’s microcontroller is a STM32 from STMicroelectronics and the prototype was based on a STM32 discovery board. The robot is designed from scratch which means that the project include: choice of components, choosing between sensors or camera to identify the line, constructing the hardware, designing a regulator and programming the microcontroller unit. The robot constructed is intended to agree with the rules of line following in the race Robot-SM 2015. The prototype ”Rulle” participated in the event who also completed the track in less than three minutes, which was required to qualify in the race. The final line follower ”Walknut” was completed after Robot-SM and hence did not participate in the event.