Our last assignment for working the sciborgs was to use a light sensor to program the sciborg so that it could follow a white line on a dark-colored background. We had to use bang-bang and proportional control to direct the steering of the sciborg.
We approached this by looking at the light sensor readings when the sensor was on the white line and off of the white line. We created different ranges of readings and specified the sciborg to travel in a certain direction in each range of readings.
Line-following Bang-Bang
In the bang-bang program, we had the sciborg follow the area between the white line and the brown background. That way the sciborg would turn left (away from the white) if it got too close to the line, and turn right (away from the brown) if it went too much to the dark part.
Line-following Proportional
We based the proportional program on the bang-bang program. As seen below, the left and right turning speeds are proportional to how far away the sciborg is from the desired (going straight) path.
Both of the videos are sped up, as the original videos were too long to be uploaded.
If we had more time, I would experiment with the turning speed of the sciborg so that it wouldn't take so long to travel across the path.
Hi,
ReplyDeleteGood job on getting the Sciborg to follow the line. Your codes were well annotated and easy to follow.
Fabulous job partner! Really loved the conciseness of this post.
ReplyDelete