Posted March 17, 201410 yr I recorded this video as part of the tutorial I wrote about line following at http://thetechnicgea...ing-mindstorms/ I find it quite interesting the different behavior of the tuned and untuned PID Controller. This weekend I have tried building a robot with bigger wheels ( the one from 42007 Motorbike ) and it missed the line quite easily... because a little correction moved the robot too much but too small Kp make the robot lose the line easily. Any ideas about what can I do?
March 17, 201410 yr Very nice experiment! So, tuning the robot proves to be difficult due to the wheel size? In this case a solution with dual sensors might come in handy. Very nice article by the way. I will read it in-depth later.
March 18, 201410 yr If you increase the size of the wheels, but keep them rotating at the same rotation speed as the smaller wheels, then you are increasing the overall speed of the unit, and it is more likely to go too fast and turn too fast. If you want to keep it following the line nicely, then you may have to slow down the rotation speed of the drive motors a bit. Or perhaps reprogram it so that it doesn't turn so much, so that it continues to go fast in a straight line, but turns slower in the corners.
March 18, 201410 yr Author If you increase the size of the wheels, but keep them rotating at the same rotation speed as the smaller wheels, then you are increasing the overall speed of the unit, and it is more likely to go too fast and turn too fast. If you want to keep it following the line nicely, then you may have to slow down the rotation speed of the drive motors a bit. Or perhaps reprogram it so that it doesn't turn so much, so that it continues to go fast in a straight line, but turns slower in the corners. Yep, right, the whole point on using bigger wheels was on making it move faster :)
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