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LineLeader sensor
指導老師:謝銘原
碩電機一甲
M9920103
李昆紘
OUTLINE
INTRODUCTION
 DESCRIPTION OF THE METHOD
 EXPERIMENTAL RESULTS
 CONCLUSION AND FUTURE WORK
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INTRODUCTION
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探險機器人比賽中，規則幾乎要求必須
沿線行走，在這種狀況下，為了能夠夠
快、更準確 ，必須有更好的Sensor來幫
助我們達成目的。
既然實驗室擁有LineLeader 這專為沿線
型走開發的Sensor ，那何不好好利用呢?
DESCRIPTION OF THE METHOD
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This is an array of 8 sensors with controlled light
source, returning you values of the sensor readings.
Your program can then decide if you wish to follow
line with it or do something else.
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Easy to mount on your NXT robot facing ground
Reporting dark and light pattern from array of 8
sensors
Detect and follow a line
Write line follower programs with your own decision
making
Develop your own PID control algorithms
Upgradable firmware using simple software.
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DESCRIPTION OF THE METHOD
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Start with a nice straight line and all the
values at 0. The robot will zig zag across the
line very badly. Increase P until it follows the
line a little more accurately but still oscillates
a little. Now very slowly increase the D
value until the oscillations are brought down
to a minimum.
•
When that is done, have a go at a line with a
bend in it. If your robot doesn't react fast
enough, increase D, if it's too fast, decrease D.
EXPERIMENTAL RESULTS
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現場示範
CONCLUSION AND FUTURE WORK
LineLeader在平坦的地面雖然很好用，
但在有著障礙的場地上卻無法發揮，不
過相信這個問題是可以解決的。
 在參數的調整上，機構輪距不同就要微
調PID值是有點麻煩。
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