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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Thu, 26 Aug 1999 20:55:02 GMT
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Reply-To:
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JON@MIDNIGHTBEACH.COMspamcake
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Viewed:
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1867 times
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I've used a similar approach, and it does work, but you still can't go
very fast. I'd like to try a double sensor approach, myself ... have a
friend bringing a second set by this weekened.
Robert Munafo wrote:
>
> 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.
--
http://www.midnightbeach.com - Me, my work, my writing, and
http://www.midnightbeach.com/hs - my homeschool resource pages
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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 (...) (27 years ago, 25-Aug-99, to lugnet.robotics)
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