Lego Line Followers

Ten of these cars were designed and build by our company, Oklahoma Robotics LLC (http://okrobotics.com/), for a client who sets up and displays Lego cityscapes. The cars are running a fairly early version of the firmware. The slower car is running at a scale speed of ~35 mph. The fast one has a poorly tuned tracking PID loop in this video. The microcontroller used is the Parallax Propeller. The output of four hall effect sensors, detecting a strip of magnetic tape under the road, is combined to get a differential output. This output is used to set the steering servo position. Servo position, Line tracking, and Speed control are controlled with PID. Infrared range finding is used to avoid collisions. The copper rails allow the cars to be self charging. At this point we do not intend to release our source code.

Category:

Science & Technology

Tags:

• Custom
• Design
• Robot
• autonomous
• Lego
• City
• Display
• Line
• Follower
• Parallax
• Propeller
• Micro
• controller
• Microprocessor
• Hall
• Effect
• Sensor
• PID
• Proportional
• Integral
• Derivative
• OKRobotics
• Oklahoma
• Robotics
• 911Otis