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This is simple line following robot with minimalistic hardware; Controll algorithm is derivated from PID, improved for this application to two PDD2 controllers (proportional - derivative - 2nd derivative) switched with fuzzy multiplexer. Six controller constants were geneticly calculated on mathematical robot model in Ruby.
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/motoko-neural-network-line-follower