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Wall Hall effect C FIGURE 38.7 Ways to follow the wall include: a. Contact switch; b. Noncontact active sensor (such as infrared); c. Noncontact passive sensor (e.g., Hall effect sensor and magnetic, electromagnetic, or ferrous metal wall/baseboard); and d. Soft contact using pliable material such as foam rollers.
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FIGURE 38.8 A wall-following robot that merely feels its way around the room might make wide, sweeping arcs. The arc movement is easily accomplished in a typical twowheeled robot by running one motor slower than the other.
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A simple ultrasonic wall follower can use two ultrasonic transmitter/receiver pairs. Each transmitter and receiver is mounted several inches apart to avoid cross talk. Two transmitter/receiver pairs are used to help the robot travel parallel to the wall. Suitable ultrasonic transmitter and receiver circuits are detailed in 36, Collision Avoidance and Detection. Because the robot will likely be close to the wall (within a few inches), you will want to drive the transmitters at very low power and use only moderate amplification, if any, for the receiver. You can drive the transmitters at very low power by reducing the voltage to the transmitter.
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SOFT-CONTACT FOLLOWING WITH FOAM WHEEL
Soft-contact wall following with a roller wheel offers you some interesting possibilities. In fact, you may be able to substantially simplify the sensors and control electronics by placing an idler roller made of soft foam as an outrigger to the robot and then having the robot constantly steer inward toward the wall. This can be done simply by running the inward wheel (the wheel on the side of the wall) a little slower than the other. The foam idler roller will prevent the robot from hitting the wall.
DEALING WITH DOORWAYS AND OBJECTS
Merely following a wall is, in essence, not that difficult. The task becomes more challenging when you want the robot to maneuver around obstacles or skip past doorways. This requires additional sensors, perhaps whiskers or other touch sensors in the forward portion of the robot. These are used to detect corners as well. This is especially important when you are constructing a robot that has a simple inward-arc behavior toward following walls. Without the ability to sense a wall straight ahead, the robot may become hopelessly trapped in a corner. Open doorways that lead into other rooms can be sensed using a longer-range ultrasonic transducer. Here, the long-range ultrasonic detects that the robot is far from any wall and places the machine in a go straight mode. Ideally, the robot should time the duration of this mode to account for the maximum distance of an open doorway. If a wall is not detected within X seconds, the robot should go into a look for wall mode.
Odometry: The Art of Dead Reckoning
Hop into your car. Note the reading on the odometer. Now drive straight down the road for exactly one minute, paying no attention to the speedometer or anything else (of course, keep your eyes on the road!). Again note the reading on the odometer. The information on the odometer can be used to tell you where you are. Suppose it says one mile. You know that if you turn the car around exactly 180 and travel back one mile, at whatever speed, you ll reach home again. This is the essence of odometry, reading the motion of a robot s wheels to determine how far it s gone. Odometry is perhaps the most common method for determining where a robot is at any given time. It s cheap and easy to implement and is fairly accurate over short distances. Odometry is similar to the dead reckoning navigation used by sea captains and pilots before the age of satellites, radar, and other electronic schemes. Hence, odometry is also referred to in robot literature as dead reckoning. Unlike your car, robots don t have speedometers connected to their transmissions or front wheels to drive the odometer. Instead, a robot s odometer is typically devised using optical or magnetic sensors. Let s take a look at how each kind is used in a robot.
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