Line Following Sensor Arrangement Algorithm

[richardv2]

I'm building several line following sensor arrays. One is an 8-inline array with QRD1114 sensors spaced at 0.5 inches. The 'line' will be 0.75 inch electrical tape. I want a more precise reading, so closer spacing, allowing two sensors to react when both are over the line, will give me more readings per inch.

I also have a theory about an inverted V array, like this:

#.........#  front
.#.......#
..#.....#
...#...#
....#.#
.....#
***********
***ROBOT***
***BODY****
***********
***********

(# = sensor. periods are just spacers so your screen won't delete or ignore the spacing.)

My theory is that putting the prongs of the V out front, that I will be able to get earlier detection of 90 degree intersections and greater than 90 degree turns. (And other complex turns that might 'fool' an inline array.) And I equate earlier detection with the ability to go faster and still make the turn, therefore traversing a course or maze faster.

I've completed the inline array, and once working, will make the inverted V array and test both pretty extensively.

Does anyone have any wisdom on this? I've seen one robot on the net with a V, but with the point of the V out front, but not an array like above.

I would like to hear your thoughts or ideas on this.

[Doug]

Hi richardv2 

It's a good idea! It seems you have to use many sensors. How does it cost?

[sri]

Nice Idea....