X Line Follower - Revision history

Balogh: /* Project Files */

2009-02-20T19:16:13Z

‎Project Files

Balogh: /* Project Files */

2008-07-15T21:25:03Z

‎Project Files

Balogh at 12:22, 11 July 2008

2008-07-11T12:22:47Z

Balogh at 12:06, 11 July 2008

2008-07-11T12:06:19Z

Balogh at 12:06, 11 July 2008

2008-07-11T12:06:02Z

Robot at 12:00, 11 July 2008

2008-07-11T12:00:53Z

Robot: /* Abstract */

2008-07-11T11:54:50Z

‎Abstract

Robot at 11:51, 11 July 2008

2008-07-11T11:51:45Z

New page

= Project: Line Follower =

== Overview ==

[[Image:XLFrobot.jpg|thumb|Line following robot|200px|right|X Line following robot]]

'''Author(s):''' Costin Ionita, Aija Rusina <BR>
'''Country(s):''' Romania/Latvia <BR>
'''Date:''' 11.07.2008 <BR>
'''Activity:''' Robolution 2008 <BR>

== Abstract ==

'''Hardware Design''': Our robot consists of a basic Boe-Bot to which we have attached a set of
3 IR sensors: 1-left, 1-center, 1-right.

'''Software Design''': There is a main loop on which the robot analises its current state and tries to move on the direction of the line (Line Follower). The state is coded with three variables: ''qtiRight'', ''qtiCenter'' and ''qtiLeft''. 0 - white (robot doesn't sense anything), 1 - black (robot senses the line). There are three main cases:

1. [[qtiCenter = 1]] (the rest doesn't matter)
robot moves forward
2. [[qtiCenter = 0, qtiLeft = 1]]
robot tries to search the line on the left side. If the line is found within a certain range the robot stops searching and continues moving forward.
3. [[qtiCenter = 0, qtiRight = 1]]
robot tries to search the line on the right side. If the line is found within a certain range the robot stops searching and continues moving forward.

In case all three sensors "feel" 0, it means that the line is over or the curve is too steep. If the curve is too steep, the robot remembers the last change of direction and it tries to search to line in the same direction, otherwise it tries the opposite. If it's the end of the road, the robot uses a simple heuristic to find another line within a certain radius. It moves forward and serches both left and right. In no line is found it repeats this process for a number of times (2 in this case). After 2 steps, if no line is found the robot simply stops.

== Project Files ==

{| style="color:green;background-color:#ffffcc;" cellpadding="2" cellspacing="0" border="1"
| '''Description''' || '''Download'''
|-
| Project video || [[Media:XLFvideo.mpg]]
|-
| Project sourcecode || [[Media:XLFcode.bs2]]
|-
|}

[[Category:Projects]]

← Older revision		Revision as of 21:25, 15 July 2008
Line 45:		Line 45:


−	Go back to the [~~[Robolution~~#~~List_of_projects\|~~List of the projects]]	+	Go back to the [http://www.robotika.sk/holls/2008/index.html#list List of the projects]


	[[Category:Projects]]		[[Category:Projects]]

← Older revision		Revision as of 12:22, 11 July 2008
Line 44:		Line 44:
	\|}		\|}

		+
		+	Go back to the [[Robolution#List_of_projects\|List of the projects]]


	[[Category:Projects]]		[[Category:Projects]]

@@ Line 36: / Line 36: @@
 {| style="color:green;background-color:#ffffcc;" cellpadding="2" cellspacing="0" border="1"
-| '''Description''' ||	'''Download'''
+| '''Description'''      ||	'''Download'''
 |-
-| Project video 	|| [[Media:XLFvideo.mpg]]
+| Project video 	 || [[Media:XLFvideo.mpg]]
 |-
-| Project sourcecode 	        || [[Media:XLFcode.bs2]]
+| Project sourcecode 	 || [[Media:XLFcode.bs2]]
 |-
 |}

@@ Line 7: / Line 7: @@
 '''Author(s):''' Costin Ionita, Aija Rusina   <BR>
-'''Country:''' Romania/Latvia              <BR>
+'''Country:''' Romania / Latvia              <BR>
 '''Date:''' 11.07.2008           <BR>
 '''Activity:''' Robolution 2008  <BR>

@@ Line 18: / Line 18: @@
 '''Software Design''': There is a main loop on which the robot analises its current state and tries to move on the direction of the line (Line Follower). The state is coded with three variables: ''qtiRight'', ''qtiCenter'' and ''qtiLeft''. 0 - white (robot doesn't sense anything), 1 - black (robot senses the line). There are three main cases:
-. [[qtiCenter = 1]] (the rest doesn't matter)
+.
-   robot moves forward
+ qtiCenter = 1 (the rest doesn't matter)
-. [[qtiCenter = 0, qtiLeft = 1]]
+robot moves forward
-In case all three sensors "feel" 0, it means that the line is over or the curve is too steep. If the curve is too steep, the robot remembers the last change of direction and it tries to search to line in the same direction, otherwise it tries the opposite. If it's the end of the road, the robot uses a simple heuristic to find another line within a certain radius. It moves forward and serches both left and right. In no line is found it repeats this process for a number of times (2 in this case). After 2 steps, if no line is found the robot simply stops.
+.
 == Project Files ==