Help Robot line follower

[raygh]

Hello,
I would like to program a robot which follows a line black on a white bottom but I do not know how to make, none of my programs works.
I possess an infrared sensor.
Could you help me? Do you have a screen capture of robot pro or a plan for help me.
Sorry from my English I am French. thank's for your help.

[raygh]

Hallo,
Ich möchte einen Roboter, der eine Linie schwarz auf weißem Unter folgt programmieren, aber ich weiß nicht, wie zu machen, keiner von meinen Programmen funktioniert.
Ich besitze einen Infrarotsensor.
Könnten Sie mir helfen? Haben Sie einen Screenshot der Roboter pro oder einen Plan für die mir helfen.
Leider von meinem Englisch Ich bin Französisch. danke für Ihre Hilfe.

[steffalk]

Hello Raygh,

If you only have one infrared sensor, this will be difficult I guess. Things would be easier if you had one lamp and two photo transistors or photo cells. Then you would put the lamp in the middle of your robot, shining to the floor, and one photo cess on each side of it. If the robot is just above the black line, both photo cells receive reflected light. Whenever a cell stops getting light, you know that the robot must be above the black line with this cell, so you can direct your motors to turn the robot to the other side.

Good luck,
Stefan

[raygh]

Ok, Thank you Stepfan
I'll see if I can get that but otherwise it is really impossible?
Raygh

[steffalk]

Hello Raygh,

OK then, even with one sensor only, you still have to differentiate three states: Robot is on line, or is off the line to the left or to the right. You might succeed if you can manage that the sensor receives three distinguishable light levels, for example, very bright (off line to the left), medium bright (on line) and only little bright (off to the right). Perhaps you can realize that by using two lamps instead of two sensors: Make the black line wide enough so that it covers both lamps. Define "robot is on line" as the position where one lamp is above the line and one lamp is not. That would reflect medum light. If both lamps are over the black line, no light would be reflected (you know that you are off in that direction). If both lamps are off in the other direction, very bright light (from two lamps) would be reflected to the sensor.

Success,
Stefan

[raygh]

Hello,
I managed with a sensor to make so that my robot follows a line with bends. I would like now that my robot remembers itself how it made to do the travel it, and what he can redo it without lines is it possible? And if yes how?
Thank you very much for your help.
Cordially Raygh

[vleeuwen]

Bonsoir,
Ici, vous pouvez trouver quelque information concernant "trail sensor state machine".

http://web.inter.nl.net/users/Ussel-Int ... Sensor.htm

[raygh]

Danke . Mir ist gelungen, es den Linien Schwarz folgen zu lassen.
Ob der Roboter die Reise ohne Linien Schwarz wiedermachen kann. Kann er sich einprägen?

Thank you . I managed to make him follow lines blacks.
The robot can redo the journey without lines black. Can he memorize ?

Merci de ta réponse. J'ai réussi à le faire suivre les lignes noirs.
Est-ce que le robot peut refaire le voyage sans les lignes noir. Peut-il mémoriser ?

[vleeuwen]

What kid of parameters do you propose to memorize?
Are they accurate enough to reproduce the trajectory of this black line.
And take into account the wheel slip, etc.

GPS does not work because of his accuracy of 10 to 5 m (after several minutes).

[raygh]

Thank's
OK thus it is possible? I wants to memorize the whole route, it will be less than 2 meters.

[vleeuwen]

Suggestion 1:
For the on-line mode.
Store the position of the left and right wheel (encoder motors or pulse counters) and changes of the motor powers (new powers and wheel positions) in a data base.
Keep in mind that the encoder motor is using a incremental encoder, so you need to develop something to take care of direction changes.

Suggestion 2:
Try MS- Robotics Developer Studio with the FtTxService as base for development.
See also: http://www.fischertechnik.de/home/downl ... d-122.aspx