... | @@ -87,7 +87,14 @@ int lightValRight = (int) (100-(lightRight.readValue()*scale)); |
... | @@ -87,7 +87,14 @@ int lightValRight = (int) (100-(lightRight.readValue()*scale)); |
|
|
|
|
|
#### Results
|
|
#### Results
|
|
First experiment with 45 degree angle:
|
|
First experiment with 45 degree angle:
|
|
The two sensors were mounted at an angle of ~45 degrees and a space of 12 cm. Both sensors were “lying down” on the side (billede). The results showed that the robot was able to move towards the light. However it also resulted in a large blind spot. The large blind spot resulted in the robot sometimes not being able to see the light source despite the source being right in front of it.
|
|
The two sensors were mounted at an angle of ~45 degrees and a space of 12 cm. Both sensors were “lying down” on the side (see Fig. 4). The results showed that the robot was able to move towards the light. However it also resulted in a large blind spot. The large blind spot resulted in the robot sometimes not being able to see the light source despite the source being right in front of it.
|
|
|
|
|
|
|
|
Second experiment with 0 degree angle:
|
|
|
|
Two light sensors mounted at the same angle, both pointing straight ahead while remaining upright with a space of 8 centimeters between them. The experiment showed that the robot was able to navigate towards a light source placed directly in front of it. The placement of the sensors with no angle also meant that once the light source was placed too far to the side of the robot, it would not be able to see it due to the blind spot.
|
|
|
|
|
|
|
|
Third experiment with a 15 degree angle:
|
|
|
|
For the third experiment we placed the sensors at a 15 degree angle. This experiment turned out to be the best of the three experiments as the blind spot to the sides and the front (see Fig. 4) were minimised, and the robot was able to navigate towards light placed directly in front of it and towards light placed by its side. Though the blind spots were minimised they were still present meaning that once the robot comes too close to the light source, the light will go between the sensors (See Fig. 4). This problem could be solved using a ultrasonic distance to measure the distance to objects placed in front of the robot.
|
|
|
|
|
|
|
|
|
|
## References
|
|
## References
|
|
|
|
|
... | | ... | |