Restaurant Serving Robot with Double Line Sensors Following Approach

As the era of industrial 4.0 coming, robotic technology has been applied in many aspects of human life. Putting robots in service business such as waiter robot serving in a restaurant is very promising industry in the near future. In this study, the authors present the development of a restaurant serving robot using double line-sensors following approach in combination with PID controller for stable speed outcome. The robot is designed by referring to the surveys on the size and appearance requirement at local restaurants. The serving robot is programmed to come to a specific table by mapping data. Based on the line reading algorithm from two LED array line sensors implemented on microcontroller, the robot follows the line marked on the floor to move to the desired table position and returns to the service counter after completing the task. In this study, we build the mathematical model for the robot and simulate the response when applying PID controller using Matlab Simulink. The set of PID parameters are found by applying PID Tune App from Simulink, and then implemented to microcontroller to regulate the pulse width voltage input to the motor.