Autonomous_RockyBorg

A black line-following robot implementation using Raspberry Pi, PiCamera2, with servo steering control. The robot can follow black lines, detect cross junctions.

Features

• PID-controlled servo steering for precise line following
• Pixel based Cross junction detection with hardcoded navigation
• CLAHE image enhancement for better line visibility

Hardware Used

Component	Description
Raspberry Pi 3B+	Main controller
RockyBorg PCB	Motor + servo control via I2C
2x DC Motors	Rear drive motors
1x Servo Motor	Steering
Pi Camera2	Line detection using OpenCV
Power Supply	8x AAA batteries

Software Features

• Manual control via RockyBorg GUI or joystick
• Line Following using camera and OpenCV
• Remote access via connect.raspberrypi.com

Project Structure

main/
├── README.md
├── main.py                 # Main control loop and robot coordination
├── config.py               # Configuration parameters and constants
├── servo_controller.py     # Servo PWM control and PID steering logic
├── vision_processor.py     # Camera handling and computer vision processing
└── motor_controller.py     # RockyBorg motor control interface

Acknowledgements

• PiBorg for RockyBorg library (https://github.com/piborg/RockyBorg)
• OpenCV tutorials: TechWithTim
• Raspberry Pi community
• VisionRace Masters (https://github.com/CRM-UAM/VisionRace/tree/master)
• Robot Positioning (x-IMU) (https://github.com/xioTechnologies/Gait-Tracking-With-x-IMU/tree/master)
• Line Following Robot OpenCV (https://www.youtube.com/watch?v=ZC4VUt1I5FI)
• Line Tracking (https://github.com/fustyles/Arduino/blob/master/ESP32-CAM_Car/ESP32-CAM_CAR_TrackColorline_Tracking.js/ESP32-CAM_CAR_TrackColorline_Tracking.js.ino)
• https://github.com/abaeyens/image-processing/tree/master/RCJ_2014
• https://www.youtube.com/watch?v=o2ul4KrLT-s