{"id":873,"date":"2026-06-12T15:57:00","date_gmt":"2026-06-12T07:57:00","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/line-following-ugv-ir-sensor-pid-arduino-farsi\/"},"modified":"2026-06-12T15:57:02","modified_gmt":"2026-06-12T07:57:02","slug":"line-following-ugv-ir-sensor-pid-arduino-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/line-following-ugv-ir-sensor-pid-arduino-farsi\/","title":{"rendered":"\u062f\u0646\u0628\u0627\u0644 \u06a9\u0631\u062f\u0646 \u062e\u0637 \u0628\u0627 UGV \u2014 \u0633\u0627\u062f\u0647\u200c\u062a\u0631\u06cc\u0646 \u067e\u0631\u0648\u0698\u0647 \u062e\u0648\u062f\u06a9\u0627\u0631 \u0628\u0627 \u062d\u0633\u06af\u0631 IR (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nLine Following UGV AGV TCRT5000 IR PID \u0622\u0631\u062f\u0648\u06cc\u0646\u0648\n<\/div>\n
\n

AGV \u062f\u0646\u0628\u0627\u0644\u200c\u06a9\u0646\u0646\u062f\u0647 \u062e\u0637 \u2014 \u0645\u062f\u0644 \u0635\u0646\u0639\u062a\u06cc \u0628\u0631\u0627\u06cc \u0647\u0645\u0647<\/h2>\n

\u062f\u0631 \u0627\u0646\u0628\u0627\u0631\u0647\u0627 \u0648 \u06a9\u0627\u0631\u062e\u0627\u0646\u0647\u200c\u0647\u0627\u060c AGV (Automated Guided Vehicle)<\/strong>\u0647\u0627 \u0627\u0632 \u062e\u0637\u0648\u0637 \u0631\u0646\u06af\u06cc \u0631\u0648\u06cc \u06a9\u0641 \u0628\u0631\u0627\u06cc \u0646\u0627\u0648\u0628\u0631\u06cc \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u0646\u062f. \u0645\u0627 \u06cc\u06a9 \u0646\u0633\u062e\u0647 DIY \u0628\u0627 TCRT5000<\/strong> \u2014 \u06cc\u06a9 \u0622\u0631\u0627\u06cc\u0647 \u06f5 \u06cc\u0627 \u06f8 \u062d\u0633\u06af\u0631 IR\/\u0641\u062a\u0648\u062a\u0631\u0627\u0646\u0632\u06cc\u0633\u062a\u0648\u0631 \u2014 \u0645\u06cc\u200c\u0633\u0627\u0632\u06cc\u0645 \u06a9\u0647 \u062e\u0637 \u0633\u06cc\u0627\u0647 \u0631\u0648\u06cc \u06a9\u0641 \u0633\u0641\u06cc\u062f \u0631\u0627 \u062a\u0634\u062e\u06cc\u0635 \u0645\u06cc\u200c\u062f\u0647\u062f.<\/p>\n

\u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u0628\u0627 PID<\/strong> \u0627\u0633\u062a: \u062e\u0637\u0627\u06cc \u0627\u0646\u062d\u0631\u0627\u0641 \u0627\u0632 \u0645\u0631\u06a9\u0632 \u062e\u0637 \u0631\u0627 \u0645\u062d\u0627\u0633\u0628\u0647 \u0645\u06cc\u200c\u06a9\u0646\u062f \u0648 \u0641\u0631\u0645\u0627\u0646 \u0641\u0631\u0645\u0627\u0646 \u0631\u0627 \u062a\u0646\u0638\u06cc\u0645 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0628\u0627 P \u0628\u0647 \u062a\u0646\u0647\u0627\u06cc\u06cc UGV \u0646\u0648\u0633\u0627\u0646 \u0645\u06cc\u200c\u06a9\u0646\u062f \u2014 \u0628\u0627 D \u0646\u0648\u0633\u0627\u0646 \u06a9\u0627\u0647\u0634 \u0645\u06cc\u200c\u06cc\u0627\u0628\u062f.<\/p>\n<\/div>\n

\n

🛠️ \u06a9\u0627\u0631\u062a \u067e\u0631\u0648\u0698\u0647<\/h3>\n\n\n\n\n
\u062d\u0633\u06af\u0631<\/td>\nTCRT5000 \u0622\u0631\u0627\u06cc\u0647 \u06f8 \u062d\u0633\u06af\u0631 (~\u06f1\u06f5\u06f0K) \u06cc\u0627 QTR-8RC Pololu<\/td>\n<\/tr>\n
\u062e\u0637<\/td>\n\u0646\u0648\u0627\u0631 \u0686\u0633\u0628 \u0628\u0631\u0642 \u0633\u06cc\u0627\u0647 \u0639\u0631\u0636 \u06f2cm \u0631\u0648\u06cc \u06a9\u0641 \u0633\u0641\u06cc\u062f<\/td>\n<\/tr>\n
\u0628\u0648\u062f\u062c\u0647<\/td>\n~\u06f3\u06f0\u06f0K (\u062d\u0633\u06af\u0631 + Arduino + L298N)<\/td>\n<\/tr>\n<\/table>\n<\/div>\n

\u06a9\u062f PID \u062e\u0637\u200c\u06a9\u0634\u06cc \u06f5 \u062d\u0633\u06af\u0631<\/h2>\n
\/\/ \u06f5 \u062d\u0633\u06af\u0631 TCRT5000 \u0631\u0648\u06cc A0\u2013A4\nint sensorPins[5] = {A0,A1,A2,A3,A4};\nint sensorValues[5];\nint sensorMin[5], sensorMax[5];\n\nfloat Kp=0.3, Ki=0.0005, Kd=5.0;\nfloat lastError=0, integral=0;\nint BASE_SPEED=180;\n\nvoid calibrate(){\n  for(int i=0;i<200;i++){\n    for(int j=0;j<5;j++){\n      int val = analogRead(sensorPins[j]);\n      sensorMin[j] = min(sensorMin[j], val);\n      sensorMax[j] = max(sensorMax[j], val);\n    }\n    delay(10);\n  }\n}\n\nfloat getLinePosition(){\n  float weightedSum=0, sum=0;\n  for(int i=0;i<5;i++){\n    sensorValues[i] = map(analogRead(sensorPins[i]), sensorMin[i], sensorMax[i], 0, 1000);\n    weightedSum += sensorValues[i] * (i * 250);  \/\/ \u0648\u0632\u0646\u200c\u062f\u0647\u06cc\n    sum += sensorValues[i];\n  }\n  return (sum > 100) ? weightedSum\/sum : 500;  \/\/ 0\u20131000\u060c \u0645\u0631\u06a9\u0632=500\n}\n\nvoid loop(){\n  float position = getLinePosition();\n  float error = position - 500;\n\n  integral += error;\n  integral = constrain(integral, -5000, 5000);\n  float correction = Kp*error + Ki*integral + Kd*(error-lastError);\n  lastError = error;\n\n  int leftSpeed  = constrain(BASE_SPEED + correction, 0, 255);\n  int rightSpeed = constrain(BASE_SPEED - correction, 0, 255);\n  driveDiff(leftSpeed, rightSpeed);\n}<\/code><\/pre>\n
\u06a9\u0627\u0644\u06cc\u0628\u0631\u0627\u0633\u06cc\u0648\u0646 \u062d\u0633\u06af\u0631\u0647\u0627<\/h2>\n
    \n
  1. \u0631\u0648\u06cc UGV \u0628\u06af\u0630\u0627\u0631 \u0648 \u062f\u0633\u062a\u06cc \u0631\u0648\u06cc \u062e\u0637 \u0628\u0686\u0631\u062e\u0627\u0646\u0634 \u062f\u0631 \u062d\u06cc\u0646 calibrate().<\/li>\n
  2. sensorMin \u0648 sensorMax \u0630\u062e\u06cc\u0631\u0647 \u0634\u0648\u0646\u062f \u062f\u0631 EEPROM \u0628\u0631\u0627\u06cc \u062f\u0641\u0639\u0627\u062a \u0628\u0639\u062f.<\/li>\n
  3. PID \u0631\u0627 \u0634\u0631\u0648\u0639 \u06a9\u0646: \u0641\u0642\u0637 P (\u0645\u062b\u0644\u0627\u064b P=0.3)\u060c \u0627\u06af\u0631 \u0646\u0648\u0633\u0627\u0646 \u062f\u0627\u0634\u062a D \u0631\u0627 \u0628\u0627\u0644\u0627 \u0628\u0628\u0631.<\/li>\n<\/ol>\n
    \n