good wall following technique?
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Hi to all.
I'm trying to design an algorithm for a wall-following robot.
I got 3 working distance sensors connected to it, going front, left
and right.
Anyone got an idea as to how it can be programmed to follow the wall
at roughly 20 cm? By the way, it's a 2-wheel robot.
I tried having it turn slightly when it sensed its too close or too
far, but then the direction for the sensors would also be changed, so
it often times ends up crashing into the wall.
Please reply if anyone got an idea.
Thank you.
I'm trying to design an algorithm for a wall-following robot.
I got 3 working distance sensors connected to it, going front, left
and right.
Anyone got an idea as to how it can be programmed to follow the wall
at roughly 20 cm? By the way, it's a 2-wheel robot.
I tried having it turn slightly when it sensed its too close or too
far, but then the direction for the sensors would also be changed, so
it often times ends up crashing into the wall.
Please reply if anyone got an idea.
Thank you.
Comments
adding a compass to my robot.
________
Original Message
From: "rich2kchan" <rich2kchan@y...>
To: <basicstamps@yahoogroups.com>
Sent: Saturday, April 10, 2004 5:07 PM
Subject: [noparse][[/noparse]basicstamps] good wall following technique?
> Hi to all.
>
> I'm trying to design an algorithm for a wall-following robot.
> I got 3 working distance sensors connected to it, going front, left
> and right.
> Anyone got an idea as to how it can be programmed to follow the wall
> at roughly 20 cm? By the way, it's a 2-wheel robot.
> I tried having it turn slightly when it sensed its too close or too
> far, but then the direction for the sensors would also be changed, so
> it often times ends up crashing into the wall.
>
> Please reply if anyone got an idea.
> Thank you.
>
>
>
> To UNSUBSCRIBE, just send mail to:
> basicstamps-unsubscribe@yahoogroups.com
> from the same email address that you subscribed. Text in the Subject and
Body of the message will be ignored.
>
> Yahoo! Groups Links
>
>
>
>
>
mounting your sensors at an angle forward as opposed to perpendicular to your
robot and the wall.
John Baker
http://www.geocities.com/johnsrobotics/
rich2kchan <rich2kchan@y...> wrote:
Hi to all.
I'm trying to design an algorithm for a wall-following robot.
I got 3 working distance sensors connected to it, going front, left
and right.
Anyone got an idea as to how it can be programmed to follow the wall
at roughly 20 cm? By the way, it's a 2-wheel robot.
I tried having it turn slightly when it sensed its too close or too
far, but then the direction for the sensors would also be changed, so
it often times ends up crashing into the wall.
Please reply if anyone got an idea.
Thank you.
To UNSUBSCRIBE, just send mail to:
basicstamps-unsubscribe@yahoogroups.com
from the same email address that you subscribed. Text in the Subject and Body of
the message will be ignored.
Yahoo! Groups Links
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[noparse][[/noparse]Non-text portions of this message have been removed]
> I got 3 working distance sensors connected to it, going front, left
> and right.
> Anyone got an idea as to how it can be programmed to follow the wall
> at roughly 20 cm? By the way, it's a 2-wheel robot.
> I tried having it turn slightly when it sensed its too close or too
> far, but then the direction for the sensors would also be changed, so
> it often times ends up crashing into the wall.
I'd go with four sensors, one at each diagonal; if the robot is facing north
the sensors would be at north-east, south-east, south-west & north-west.
The west sensors would only be used for collision avoidance. The east
sensors would be used for wall alignment and distance.
while (1)
if ((NE + SE) > 40) // too far away?
steer_right();
else
{
if (NE > SE) // headed away from wall?
steer_right();
else
steer_left();
}
}
--
Enjoy,
George Warner,
Schizophrenic Optimization Scientists
Apple Developer Technical Support (DTS)