{"id":444,"date":"2026-06-11T10:29:48","date_gmt":"2026-06-11T02:29:48","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/agv-warehouse-line-follower-arduino-farsi\/"},"modified":"2026-06-11T10:29:49","modified_gmt":"2026-06-11T02:29:49","slug":"agv-warehouse-line-follower-arduino-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/agv-warehouse-line-follower-arduino-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a AGV \u0627\u0646\u0628\u0627\u0631 \u0633\u0627\u062f\u0647 \u0628\u0627 Arduino \u0648 \u0633\u0646\u0633\u0648\u0631 \u062e\u0637: \u0631\u0628\u0627\u062a \u0628\u0627\u0631\u0628\u0631 \u062f\u0646\u0628\u0627\u0644\u200c\u06a9\u0646\u0646\u062f\u0647 \u0645\u0633\u06cc\u0631 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nAGV \u0627\u0646\u0628\u0627\u0631 Line Follower \u0622\u0631\u062f\u0648\u06cc\u0646\u0648\n<\/div>\n
\n

AGV \u0686\u06cc\u0633\u062a\u061f (\u0628\u0631\u0627\u06cc \u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

AGV<\/strong> (Automated Guided Vehicle) \u06cc\u06a9 \u0648\u0633\u06cc\u0644\u0647 \u0646\u0642\u0644\u06cc\u0647 \u0632\u0645\u06cc\u0646\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0628\u062f\u0648\u0646 \u0631\u0627\u0646\u0646\u062f\u0647 \u0648 \u0628\u0631 \u0627\u0633\u0627\u0633 \u06cc\u06a9 \u0645\u0633\u06cc\u0631 \u0627\u0632 \u067e\u06cc\u0634 \u062a\u0639\u0631\u06cc\u0641\u200c\u0634\u062f\u0647 \u062d\u0631\u06a9\u062a \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0633\u0627\u062f\u0647\u200c\u062a\u0631\u06cc\u0646 \u0646\u0648\u0639 AGV \u0627\u0632 \u06cc\u06a9 \u062e\u0637 \u0633\u06cc\u0627\u0647<\/strong> \u0631\u0648\u06cc \u0632\u0645\u06cc\u0646 \u067e\u06cc\u0631\u0648\u06cc \u0645\u06cc\u200c\u06a9\u0646\u062f \u2014 \u0633\u0646\u0633\u0648\u0631\u0647\u0627\u06cc IR \u062f\u0631 \u0632\u06cc\u0631 \u0631\u0628\u0627\u062a \u062a\u0641\u0627\u0648\u062a \u0631\u0648\u0634\u0646\u0627\u06cc\u06cc \u062e\u0637 \u0633\u06cc\u0627\u0647 \u0648 \u0632\u0645\u06cc\u0646 \u0633\u0641\u06cc\u062f \u0631\u0627 \u062a\u0634\u062e\u06cc\u0635 \u0645\u06cc\u200c\u062f\u0647\u0646\u062f.<\/p>\n

\u062f\u0631 \u0627\u0646\u0628\u0627\u0631\u0647\u0627\u06cc \u0635\u0646\u0639\u062a\u06cc \u0645\u062f\u0631\u0646 (\u0645\u062b\u0644 \u0627\u0646\u0628\u0627\u0631 \u0622\u0645\u0627\u0632\u0648\u0646)\u060c AGV\u0647\u0627 \u0642\u0641\u0633\u0647\u200c\u0647\u0627 \u0631\u0627 \u062c\u0627\u0628\u062c\u0627 \u0645\u06cc\u200c\u06a9\u0646\u0646\u062f. \u0646\u0633\u062e\u0647 DIY \u0627\u06cc\u0646 \u067e\u0631\u0648\u0698\u0647 \u06cc\u06a9 \u067e\u0627\u06cc\u0647 \u0639\u0627\u0644\u06cc \u0628\u0631\u0627\u06cc \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u0645\u0641\u0627\u0647\u06cc\u0645 \u06a9\u0646\u062a\u0631\u0644 \u062e\u0648\u062f\u06a9\u0627\u0631\u060c \u0633\u0646\u0633\u0648\u0631\u0647\u0627\u06cc IR\u060c \u0648 \u06a9\u0646\u062a\u0631\u0644 PID \u0633\u0631\u0639\u062a \u0627\u0633\u062a.<\/p>\n

\u0645\u0627 \u0627\u0632 \u06cc\u06a9 \u0622\u0631\u0627\u06cc\u0647 \u0633\u0646\u0633\u0648\u0631 IR \u0628\u0647 \u0646\u0627\u0645 TCRT5000 x 5<\/strong> \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645 \u2014 \u06f5 \u0633\u0646\u0633\u0648\u0631 \u06a9\u0646\u0627\u0631 \u0647\u0645 \u06a9\u0647 \u0645\u0648\u0642\u0639\u06cc\u062a \u062f\u0642\u06cc\u0642 \u062e\u0637 \u0631\u0627 \u062a\u0639\u06cc\u06cc\u0646 \u0645\u06cc\u200c\u06a9\u0646\u0646\u062f. \u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u062a\u0648\u0631 \u0627\u0632 \u0637\u0631\u06cc\u0642 L298N<\/strong> (H-Bridge \u062f\u0631\u0627\u06cc\u0648\u0631 \u0645\u0648\u062a\u0648\u0631) \u0627\u0646\u062c\u0627\u0645 \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n<\/div>\n

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\u0645\u062d\u0635\u0648\u0644\u06cc \u06a9\u0647 \u0645\u06cc\u200c\u0633\u0627\u0632\u06cc\u062f<\/h2>\n

\u06cc\u06a9 AGV \u062f\u0648-\u0686\u0631\u062e \u0645\u062a\u062d\u0631\u06a9 \u06a9\u0647 \u0645\u0633\u06cc\u0631 \u062e\u0637 \u0633\u06cc\u0627\u0647 \u0631\u0627 \u062f\u0646\u0628\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f\u060c \u062f\u0631 \u0627\u06cc\u0633\u062a\u06af\u0627\u0647\u200c\u0647\u0627 \u0645\u06cc\u200c\u0627\u06cc\u0633\u062a\u062f \u0648 \u0628\u0627 \u062a\u0646\u0638\u06cc\u0645 PWM \u0633\u0631\u0639\u062a \u0631\u0627 \u06a9\u0646\u062a\u0631\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n

    \n
  • \u0632\u0645\u0627\u0646 \u0633\u0627\u062e\u062a:<\/strong> \u06f3 \u062a\u0627 \u06f5 \u0633\u0627\u0639\u062a<\/li>\n
  • \u0647\u0632\u06cc\u0646\u0647:<\/strong> \u06f5\u06f0\u06f0 \u062a\u0627 \u06f8\u06f0\u06f0 \u0647\u0632\u0627\u0631 \u062a\u0648\u0645\u0627\u0646<\/li>\n
  • \u0633\u0631\u0639\u062a:<\/strong> \u06f0.\u06f5-\u06f1 m\/s \u0642\u0627\u0628\u0644 \u062a\u0646\u0638\u06cc\u0645<\/li>\n<\/ul>\n<\/div>\n

    \n\n\n\n\n\n\nArduino + L298N<\/text>\nTCRT5000 \u00d7 \u06f5<\/text>\n\u2190 \u062e\u0637 \u0633\u06cc\u0627\u0647 \u2192<\/text>\nAGV \u062f\u0646\u0628\u0627\u0644\u200c\u06a9\u0646\u0646\u062f\u0647 \u062e\u0637 \u2014 \u0633\u0646\u0633\u0648\u0631 IR \u00d7 \u06f5 \u2014 \u06a9\u0646\u062a\u0631\u0644 PD<\/text>\n<\/svg><\/p>\n

    \u0642\u0637\u0639\u0627\u062a \u0644\u0627\u0632\u0645 (BOM)<\/h2>\n\n\n\n\n\n\n\n\n\n
    \u0642\u0637\u0639\u0647<\/th>\n\u0646\u0642\u0634<\/th>\n<\/tr>\n<\/thead>\n
    Arduino Nano<\/td>\n\u06a9\u0646\u062a\u0631\u0644\u0631 \u0627\u0635\u0644\u06cc<\/td>\n<\/tr>\n
    TCRT5000 Sensor Array \u00d7 \u06f5<\/td>\n\u062a\u0634\u062e\u06cc\u0635 \u062e\u0637<\/td>\n<\/tr>\n
    L298N Motor Driver<\/td>\n\u06a9\u0646\u062a\u0631\u0644 \u06f2 \u0645\u0648\u062a\u0648\u0631 DC<\/td>\n<\/tr>\n
    \u0645\u0648\u062a\u0648\u0631 DC Geared 100RPM \u00d7 \u06f2<\/td>\n\u0645\u062d\u0631\u06a9 \u0686\u0631\u062e\u200c\u0647\u0627<\/td>\n<\/tr>\n
    \u0634\u0627\u0633\u06cc \u06f2 \u0686\u0631\u062e \u062f\u06cc\u0641\u0631\u0627\u0646\u0633\u06cc\u0644<\/td>\n\u067e\u0627\u06cc\u0647 \u0631\u0628\u0627\u062a<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    \u06a9\u062f Arduino \u2014 \u06a9\u0646\u062a\u0631\u0644 PD Line Following<\/h2>\n
    \nconst int SENSOR[5] = {A0,A1,A2,A3,A4};\nconst int IN1=7, IN2=8, ENA=9, IN3=10, IN4=11, ENB=6;\nconst int BASE_SPEED = 150;\nfloat Kp = 40, Kd = 20;\nint lastError = 0;\n\nint readLine() {\n  int val[5]; int sum=0, wSum=0;\n  for(int i=0;i<5;i++){\n    val[i] = (analogRead(SENSOR[i]) > 500) ? 1 : 0;\n    sum  += val[i];\n    wSum += val[i] * (i * 1000);\n  }\n  if(sum==0) return lastError > 0 ? 4000 : 0;\n  return wSum \/ sum;\n}\n\nvoid setMotors(int lSpd, int rSpd) {\n  lSpd = constrain(lSpd, -255, 255);\n  rSpd = constrain(rSpd, -255, 255);\n  digitalWrite(IN1, lSpd > 0); digitalWrite(IN2, lSpd <= 0);\n  analogWrite(ENA, abs(lSpd));\n  digitalWrite(IN3, rSpd > 0); digitalWrite(IN4, rSpd <= 0);\n  analogWrite(ENB, abs(rSpd));\n}\n\nvoid setup() {\n  int pins[] = {IN1,IN2,IN3,IN4};\n  for(int p : pins) pinMode(p, OUTPUT);\n  Serial.begin(9600);\n}\n\nvoid loop() {\n  int pos = readLine();\n  int error = pos - 2000;  \/\/ \u06f2\u06f0\u06f0\u06f0 = \u0648\u0633\u0637 (\u0633\u0646\u0633\u0648\u0631 \u06f2 \u0627\u0632 \u06f0)\n  int correction = Kp * error + Kd * (error - lastError);\n  lastError = error;\n  setMotors(BASE_SPEED + correction, BASE_SPEED - correction);\n  delay(10);\n}\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u062a\u0646\u0638\u06cc\u0645<\/h2>\n\n\n\n\n\n\n\n\n
    \u062a\u0633\u062a<\/th>\n\u0646\u062a\u06cc\u062c\u0647<\/th>\n<\/tr>\n<\/thead>\n
    \u0631\u0648\u06cc \u062e\u0637 \u0633\u06cc\u0627\u0647: \u0633\u0646\u0633\u0648\u0631 \u0648\u0633\u0637 \u06f1 \u0645\u06cc\u200c\u0634\u0648\u062f\u061f<\/td>\n\u0628\u0644\u0647 \u2014 Serial Monitor<\/td>\n<\/tr>\n
    \u0631\u0628\u0627\u062a \u062e\u0637 \u0645\u0633\u062a\u0642\u06cc\u0645 \u0631\u0627 \u062f\u0646\u0628\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f\u061f<\/td>\n\u0628\u0644\u0647 \u2014 Kp \u062a\u0646\u0638\u06cc\u0645 \u06a9\u0646\u06cc\u062f<\/td>\n<\/tr>\n
    \u0631\u0628\u0627\u062a \u062f\u0631 \u067e\u06cc\u0686 \u06f9\u06f0 \u062f\u0631\u062c\u0647 \u0646\u0645\u06cc\u200c\u0627\u06cc\u0633\u062a\u062f\u061f<\/td>\nKd \u0631\u0627 \u0627\u0641\u0632\u0627\u06cc\u0634 \u062f\u0647\u06cc\u062f<\/td>\n<\/tr>\n
    \u062f\u0631 \u0627\u0646\u062a\u0647\u0627\u06cc \u062e\u0637 \u0645\u062a\u0648\u0642\u0641 \u0645\u06cc\u200c\u0634\u0648\u062f\u061f<\/td>\n\u06a9\u062f \u062a\u0648\u0642\u0641 sum==0 \u0627\u0636\u0627\u0641\u0647 \u06a9\u0646\u06cc\u062f<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nTCRT5000 \u00d7 \u06f5<\/text>\n\u0622\u0631\u0627\u06cc\u0647 \u0633\u0646\u0633\u0648\u0631<\/text>\nArduino Nano<\/text>\n\u06a9\u0646\u062a\u0631\u0644 PD<\/text>\nL298N Driver<\/text>\nPWM \u0686\u0631\u062e\u200c\u0647\u0627<\/text>\nAGV \u062d\u0631\u06a9\u062a<\/text>\n\u0645\u0633\u06cc\u0631 \u062f\u0642\u06cc\u0642<\/text>\nAGV \u062e\u0637\u200c\u062f\u0646\u0628\u0627\u0644\u200c\u06a9\u0646 \u2014 \u0633\u0646\u0633\u0648\u0631 IR \u2192 PD Controller \u2192 \u0645\u0648\u062a\u0648\u0631\u0647\u0627<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
    \n