7
votes
Do I need to use separate function in PID algorithm to make the bot go LEFT or RIGHT?
No, but you do need to calculate the P/I/D terms correctly. You have:
I = I + previous_I;
followed by:
previous_I = I;
...
- 15.9k
5
votes
Accepted
Length and Width of a Line Following Robot
Actually, the caster wheel has ideally no effect on the kinematics of the vehicle. In reality there will be some resistance from the caster wheel that does impact the vehicle motion, but we can still ...
- 1,377
3
votes
Accepted
How to check for a sharp angle with a line follower?
It can't pass the 20 block if the robot enters it from a 15 or 20 block (so basically it gets stuck if it's coming from an angle and hits a 90 degree turn).
Somehow coming from an angled line makes ...
- 1,425
3
votes
Optimal-time acceleration sequence of a line-following robot following a moving obstacle
The paper “Optimizing Train Speed Profiles to Improve Regeneration Efficiency of Transit Operations” (in JRC2014-3795.pdf) by Haichuan Tang et al addresses some of the issues mentioned in the question ...
- 1,991
3
votes
Optimal-time acceleration sequence of a line-following robot following a moving obstacle
Assuming constant accelerations, "stopping" (slowing) distance can be calculated with:
$$
x = x_0 + v_0 t + \frac{1}{2} a t^2 \\
$$
where $x_0$ is your initial position, $v_0$ is your initial speed, ...
- 15.9k
2
votes
How to make a robot arm follow a shape/path
The image you post is one way that should work. In the image, $\tau$ is the joint torques, and $x_d(t)$, $\dot{x}_d(t)$, and $\ddot{x}_d(t)$ are the Cartesian shape trajectory.
You mention "whole ...
- 4,335
2
votes
Accepted
Typical Problem in Simple Line Follower Using 3 sensors
I don't think you'll be able to use PID control successfully because you don't have a continuous feedback signal. Your feedback is binary on each of three sensors.
From your description, you need to ...
- 15.9k
2
votes
Color sensor alternatives
With computer-based vision, the solution often depends greatly on the environment in which the camera is operating. You may have situations where bright light and shadows result in a very difficult ...
- 4,376
2
votes
it's worth to make a line follower using a raspberry pi and a web cam?
I did a project based on RPi2 + Pi-Camera + ROS jade + OpenCV to make a line following rover. Two methods are used, one is to find contour of the track, the other is to use Hough-transform for edge ...
- 51
2
votes
How can I implement tremaux algo in arduino line follower to navigate and create map?
I would highly recommend using the encoders over estimating travel distance by rpm + time. Estimating motor velocity is notoriously tricky. Especially at slow speeds.
A direct measurement is ...
Ben♦
- 5,780
2
votes
Accepted
Line-following robot with a 5th wheel
I m not familiar with those robots, but I will guess it's more used for odometry, in order to know the speed and the traveled distance.
The design are packed so it is hard to see for sure, but it ...
- 1,402
2
votes
How to make an "invisible line following robot"?
Anki uses optical sensors in their toy cars to implement line followers. The optical sensors are sensitive in the IR range. The fact that the lines cannot be seen is easily explained: The lines are ...
- 161
2
votes
Line-following robot with a 5th wheel
The first robot is RS-100 and it won this year's all-Japan fine following competition. The fifth wheel is an encoder. The robots are allowed to remember the track - this is specific to this ...
- 31
2
votes
What is the best way to turn in 2WD simple differential drive line following robot?
Your question is a little bit fuzzy. You achieve different results with these two turning scenarios.
If you keep one wheel stopped the the radius of the curve (turn) you make equals the robot width ...
- 311
2
votes
Accepted
Line following robot mathematic model
The robot you're trying to model is known as a Two Wheeled Differential Robot. It's easy to find specific kinematic models for it. You can start here or here.
- 326
2
votes
Is there a table of DC motors in relation to weight/mass? I want to find the fastest for my build
I beleive you’re looking for Power Density
How you utilize said power of course is up to your design. You generally want the most wattage in the smallest package, and you should get something as to ...
- 518
1
vote
How to check for a sharp angle with a line follower?
Sorry I have no experience of line following robots, I use ultrasonic sensors, so this answer may be a bit naïve and there allsorts of reasons why you can't do this.
Your bot travels forwards and ...
- 272
1
vote
Tuning Line follower PID constants with Q-learning
I am currently working on a very similar project, the only difference is that I am using a simulation package (MATLAB Simmechanics) where I have modeled a mobile robot with 2 actuated wheels and a ...
- 244
1
vote
Could anyone complete my challenge?
Yes, robotic arms or other devices could write for you.
They can even be more prolific than Shakespeare.
But probably the poetry they write is not your desideratum.
If you plant numerous electrodes ...
- 26
1
vote
Tuning PID controller for sharp turns in line follower robot
I believe what you observe with the integral part is windup. You might fix that by limiting the overall value of the I part, or resetting it once the error is small or zeroes out or changes sign (zero ...
- 11
1
vote
Tuning PID controller for sharp turns in line follower robot
While calculating speeds, you are multiplying by 2*error. If PID (or PD) calculates an error, I believe it should be fed directly to the motors because in each loop it does not account for an ...
- 121
1
vote
Line follower for coloured lines
Have you tried using combination of your RGB sensor with other sensors like LDR or photo diode. You can use these 2 sensors on the side with your RGB sensors at the centre which you say is quite ...
1
vote
Implementing pure pursuit problem in robot navigation?
My understanding of the pure pursuit algorithm is that the look ahead distance is a fixed parameter. In this original paper [1], there is a short discussion on choosing the look ahead distance.
I ...
Ben♦
- 5,780
1
vote
How can I implement tremaux algo in arduino line follower to navigate and create map?
A good way to work once you have your map : turn your map in a weighted graph, were where the vertices are only at crosses and the weight is the length beetween the points represented by the vertices.
...
- 56
1
vote
How can I implement tremaux algo in arduino line follower to navigate and create map?
A good starting point is to solve the problem first in simulation. If the algorithm not work on a 2D map on screen it will never work on a real arduino. For inspiration github is a good ressource. ...
- 794
1
vote
Accepted
What algorithm should I use for a line follower?
For this task, using only PID would be adequate. However, It also depends on the response of your motors to control signals. You can also use fuzzy logic to tune the PID parameters, which are actually ...
- 111
1
vote
Accepted
How to select dc motors for a line following robot?
It's a question of balance as always. You need to select motors that require voltage and current that your robot's power source can provide, physical size so that it fits on your robot and also torque ...
- 729
1
vote
How to check for a sharp angle with a line follower?
I have a similar idea like @Bending Unit 22, which is not to follow the line but its edge instead. So you detect the line only with one sensor (let's say only with the left one (blue dot)).
If the ...
- 633
1
vote
Line following robot with EV3 Colour Sensor
I hope you can only use EV3 Color Sensor for line following and sensing colors. There are 3 modes for the Color Sensor. You can use 2 of them for these tasks:
1.) Color Mode
This mode is best suited ...
- 26
1
vote
Line following robot with EV3 Colour Sensor
The EV3 Color Sensor will work great if you're using the Mindstorms platform, if not it will be a pain it uses a non standard connection style and a not quite standard I2C communication protocol. If ...
- 1,909
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