Hello
I have a zumo 32u4 robot, and I want to use it to solve a maze - ideally a micromouse maze.
I have removed the front blade and the front sensor array. Instead, I added 3 sensors (1 to detect distance in front, 1 to detect distance to the right and another one to detect distance to the left).
My question is how do I make my robot go relatively straight and make good turns ?
relatively straight to me would be to go in a straight line without bumping into the walls. This should not be an issue, as I can use the left and right sensor continously to detect the distance and if it gets too close, then move away.
Consider the following scenario:
The robot is an interserction and needs to turn right. If it is centered and perfectly looking straight ahead, then no issues, I can make the robot turn by rotating the motors for a certain amount of time.
However, it is the other scenario, which has me stumped. The robot is still at an intersection, but now it is not pefectly looking straight ahead - the robot is turned towards the right by 30 degrees. Now if I try to make a 90 degree turn on it, I would have turned too much. I really needed to turn 60 degrees. and of course vice-versa, i.e. if the robot is facing -30 degrees, then I need to the robot to turn 120 degrees.
All these errors in the turning angles add up very quickly, as you navigate the maze.
One thought of mine is that I should have multiple front sensors to detect if I am perfect straight - I am pretty sure I am missing something very basic here.
help me guys !
Thanks
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