Educational mobile robot for QR code tracking

This paper describes the development of a low-cost, differentially driven autonomous mobile robot prototype capable of following QR codes. The system uses an Arduino microcontroller and OpenCV library to implement machine vision. QR code detection is performed using a webcam, which allows the identification and calculation of the central position of the code in each video frame. The robot position is used to dynamically adjust the robot speed using a classical PID control algorithm. The position value is used in the speed control loop, ensuring that the mobile robot can follow the QR code. The system operates via USB, ensuring continuous data transmission between the camera and the controller.