I recently did a line maze robot that keeps getting confused at intersections.
If the 5-sensor, in-line array approaches an intersection, say a “T”, and it is even a teeny bit off, one sensor doesn’t see black (should be 11111 and is 01111) - - well 01111 is also legal for a right-turn only intersection, so the in-line array would occasionally lie to the robot.
So, I’m thinking a different configuration would be more reliable. For example:
The 3pi has a circular arc of sensors like:
…#…
…#…#…
…#…#…
#…#
(Not a good drawing, but picture the #'s as sensors in a smooth circular pattern.)
I also thought that 3 central sensors to detect the line, and two “outside” sensors to sense the upcoming intersection will also work. Something like:
…#…#… (out front to sense 90 degree turn or “T” intersection)
…
…#…#…#…(Use these to stay on the line)
Has anybody experimented or tried any different configurations??