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2. Properties of RGB line follower
The RGB Line Follower contains 4 LED indicators for line following feedback and learning of
new surroundings;
Learning button: recognize and record the color of the background and lane;
Supplement light: for now the RGB line follower supports three types of color: red, green and
blue. By switching between these colors to find the best one, the line follower can learn the arena
more easily. By pressing and hold the learning button, we can switch between these colors;
Adaptability of sensitivity;
Detection of the height: According to the material of the arena and lighting condition, we
recommend to put the sensor at 5mm – 15mm high.
3. Principle Analysis
RGB Line Follower module has a total of four photosensitive receiving tubes, RGB1, RGB2,
RGB3, and RGB4 from left to right, as shown in Figure 2.
When the photosensitive receiving tubes pass through different colors, they will convert different
optical information into electrical signals and output specific values from analog ports through the
amplifier. The underlying software then uses the analog values of these four photosensitive receiving
tubes to create a default line following algorithm. Eventually, it will output the offset value of RGB Line
Follower module deviating from the track position. Users can use this offset to control the rotation speed
of the left and right motors so as to realize the line following.
4. The learning process of RGB line follower
The RGB Line Follower needs to use RGB2 and RGB3 to determine the direction. If it does not
learn the return values of the tracks and the background colors on the line following map, mBot still
Figure 2: Order of Photosensitive Receiving Tubes
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