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NXT Robot: PID Line Follower

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DiMastero is at it again…

This time he has created a robot that does some very fast line following.

Watch it in action


YouTube Direct Link 

Hardware

This line follower is equipped with three sensors: one light (port 3), one magnetic field (port 2) and one IR link, the last of which are by HiTechnic. The light sensor is used for the robot’s main purpose: line following, while the magnetic field sensor detects whether the robot needs to pause or keep going. The IR Link doesn’t have any function; it’s just there to keep the whole thing symmetrical.

rear view

Zoom on the magnet and magnetic field sensorside view

The robot moves using two independently moving motors connected to ports B and C. They form the follower’s back and sides. At the front, next to the light sensor is a caster wheel.

Detail of caster and light sensor

Programming

The robot was programmed in RobotC and runs on PID control.The motors’ built-in PID is off. When the code starts, it takes the black (line) and white (background) light values and averages them to get an offset. It then sets the bias of the HiTechnic magnetic field sensor to 0, while the magnet is in front of it. That way, the sensor’s value will change when the magnet is (re)moved.

Magnet is out of sensor's reach

Next, after a short wait, it starts driving around the NXT test paper, guided by the PID. It keeps on doing so until the magnet is removed, in which case it pauses the program and turns off the motors. Once the magnet is back in place, the robot keeps going, even if it’s been moved to somewhere else on the line. If the magnet stays away for too long (more than four seconds), the program shuts down.

You can download the latest version of the code on the downloads page or download version 2.1 (which was the latest version when this page was last updated) below.

Setup and Performance

To start the robot, place it above the middle of the black line you want to follow right after starting the program on the NXT. Then, when it bleeps, move the robot to the left of the line. Make sure you neither touch nor move the magnet.

After a split second, the robot will start to follow the line. To pause it, lift the “tail”, moving the magnet. To get it back on line, let go of the tail. To abort the entire program, hold the tail for four seconds, or until you see the light sensor turn off (it’s in active mode, so the LED will be on all the time when it’s operative).

The robot follows the black line pretty quickly and smoothly.

Written by Vu Nguyen

March 18th, 2011 at 12:03 pm

Posted in Cool projects,NXT