Line estimation for a line-following mobile robot

In this study, the coordinate of the line position for a differential drive line-following mobile robot is estimated by using the Minimum Variance Unbiased Estimator. Using the sensor data as an observation data and coordinates of sensors, a linear model for Minimum Variance Unbiased Estimator is constructed. MATLAB simulations for computing Root-Mean-Square-Error and Monte Carlo Simulations and real world data are used to analyze the performance of the estimator. Using the estimated value, a feedback for PID controller is used to compute deviation in order to make the mobile robot follow the line.