There are three fundamental situation that could happen
1.Being on the line
the simplest case is when sensors are above a guideline and robort follows it going straight on
2.Loosing the line
apporaching a curve a right sensor looses contat with line. The robot unclutches its left engine which makes it to turn left returning back on line
3.Outside the line
if a curve is to sharp the robot can loose the guideline and it is outside of it. It changes the direction of the engine which causes the robot to turn towards the line the sensors that are placed offaxis get closer to the line
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