Achieving Object-Following Function Using Braitenberg Vehicles

Braitenberg Vehicles (BV) are robots with a relatively simple and concise structure that are controlled directly by sensors including distance sensors and velocity sensors. With such characteristics, the hypothesis that BV can be used as an alternative object-following robot than PID controlling robots is proposed. However, experiments directly related to this topic were inadequate. To further investigate if BV can achieve such an object-following function, this study implemented MATLAB Simulink Program to simulate the experimental environment, the object-following function of both BV and PID controlling robots, and compared their efficiency, stability, and accuracy. With data illustrated in diagrams, conclusions were made that BV achieves the object-following function similar to PID controlling robots, even though BV is relatively unstable in its velocity. Since BV have much lower production costs, they still hold numerous advantages in object-following applications. This research was based on the general principle of robotics, and also proposed plausible BV applications and ways to improve its object-following functions.