Modelling of a line following robot and controller design

One of today?s frequently encountered problem in Robotic Technologies is position control. In this study, we deal with line-following which is one kind of position control problem.Finding less solutions in the literature research about this study made it more attractive.In this study, first of all, we formed the mathematical model of a totally four wheeled vehicle twice of which is used for motion. Then the correctness of the model is checked with different methods and the error terms are defined.In the following parts of study, to cancel the error terms, different control methods tested, simulation of these methods are done in MATLAB environment and then the resuts are compared.At last, one of the control method used is tested under real physical conditions with an application.Keywords: Line following, position control, cart control