Subject:
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Re: Q:Best approach to line tracking
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Newsgroups:
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lugnet.robotics
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Date:
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Wed, 25 Aug 1999 23:13:08 GMT
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Viewed:
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595 times
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have you tested this approach? it seems like it would work, but the light
sensor would have to be fairly far off the surface to get a wide viewing area.
it seems it would also get a little hairy with the inconsistency of lighting
to determine between the middle and edge of the line.
nate ridderman
nater@kconline.com
In lugnet.robotics, Robert Munafo writes:
> This is mainly for people who still want to stick to just one light sensor --
>
> You can still figure out which way to turn even with just one sensor, by
> following the edge of the line rather than trying to follow the center. This
> works only if your line is wide enough to fill the light sensor's field of
> view. Let's say it's a dark line on a light surface and you want to follow the
> right edge -- if it gets real light you're off the line completely and you
> should turn left. If it's real dark you're in the center of the line and you
> need to turn right.
>
> This design also allows you to have the speed depend on how far off center the
> reading is, allowing for a more graceful movement than sudden starts and • stops.
> When you're further off center, the forward velocity would be less and the
> turning velocity would be greater (but remember the motor speed control • doesn't
> work too well, you have to pulse the motors). That helps reduce superfluous
> oscillation (it can't be eliminated entirely) and that helps increase your
> maximum attainable speed. The details of your velocity functions will • determine
> how much oscillation remains and how sharp the curves can be before it really
> slows down a lot.
>
>
> - Robert Munafo http://www.mrob.com/
> LEGO: TC+++(8480) SW++ #+ S-- LS++ Hsp M+ A@ LM++ YB64m IC13
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Message has 1 Reply:
 | | Re: Q:Best approach to line tracking
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| (...) No. I read about it on web page that describes someone's line follower. They said they had gotten it to work. Sorry, but I don't know the URL -- I've seen so many line followers I can't keep track. (...) Sensor height, speed and line width all (...) (25 years ago, 25-Aug-99, to lugnet.robotics)
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Message is in Reply To:
| | Re: Q:Best approach to line tracking
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| This is mainly for people who still want to stick to just one light sensor -- You can still figure out which way to turn even with just one sensor, by following the edge of the line rather than trying to follow the center. This works only if your (...) (25 years ago, 25-Aug-99, to lugnet.robotics)
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