Subject:
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Re: line following
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Wed, 16 Apr 1997 04:31:48 GMT
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Original-From:
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Chris Moore <cmoore@cancun.rose.IHATESPAMhp.com>
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Viewed:
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1512 times
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On Apr 14, 11:37pm, Rajesh Gottlieb wrote:
> Subject: line following
>
> Hey all,
>
> I'm looking for some ideas on sensors and algorithms for a line following
> robot (black tape on white floor).
>
> If any of you have had some luck at this or know where I can find
> some info please let me know.
>
> Thanks
> Rajesh
>
> -- End of excerpt from Rajesh Gottlieb
He have (had?) some robots here at work that were used in the production
areas, and they followed a line on the floor. I've not studied them
carefully, but I think they work something like this:
Two reflective photosensors are aimed at the floor. They are close enough
together that when the robot is centered over the tape they both see it.
In your case, if both sensors see black (no reflection) then you're on
the tape. If your left sensor sees white then you're too far left, so
you need to veer to the right (speed up the left wheel, stop/slow down the
right wheel, whatever). If your right sensor sees white then you're
too far right, so you veer left. If both sensors see white then you've
lost the line and better stop and get help.
This could be extended to use more sensors...for example, four sensors,
with "normal" being the middle two black and the outer two white.
Make up a truth table of the 16 possible conditions of the four sensors
and decide what to do in each case - veer right, veer left, keep going
straight, or stop.
Hope that helps.
Chris Moore
cmoore@cancun.rose.hp.com
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Message has 1 Reply:
 | | Re: line following
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| (...) I did something like this in an early computer engineering course. The requirements are exactly the same ie. follow a black line. What Chris said is a good start but you should also consider the case when the turn is too sharp; In this case (...) (27 years ago, 16-Apr-97, to lugnet.robotics.handyboard)
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Message is in Reply To:
| | line following
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| Hey all, I'm looking for some ideas on sensors and algorithms for a line following robot (black tape on white floor). If any of you have had some luck at this or know where I can find some info please let me know. Thanks Rajesh (27 years ago, 15-Apr-97, to lugnet.robotics.handyboard)
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