I’m building a fast line follower. Most of the parts so far are from Pololu.
If you’d like to see an article about my construction with plenty of photos…
and you can email Richard@PICRobots.com
Line Following Sensor Arrangement Algorithm
from Pololu robotics forum
Author: richardv2
Forum: Sensors and Actuators
Date: 2008-03-02
I’m building several line following sensor arrays. One is an 8-inline array with QRD1114 sensors spaced at 0.5 inches. The ‘line’ will be 0.75 inch electrical tape. I want a more precise reading, so closer spacing, allowing two sensors to react when both are over the line, will give me more readings per inch.
I also have a theory about an inverted V array, like this:
#.........# front
.#.......#
..#.....#
...#...#
....#.#
.....#
***********
***ROBOT***
***BODY****
***********
***********
(# = sensor. periods are just spacers so your screen won’t delete or ignore the spacing.)
My theory is that putting the prongs of the V out front, that I will be able to get earlier detection of 90 degree intersections and greater than 90 degree turns. (And other complex turns that might ‘fool’ an inline array.) And I equate earlier detection with the ability to go faster and still make the turn, therefore traversing a course or maze faster.
I’ve completed the inline array, and once working, will make the inverted V array and test both pretty extensively.
Does anyone have any wisdom on this? I’ve seen one robot on the net with a V, but with the point of the V out front, but not an array like above.
I would like to hear your thoughts or ideas on this.