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motoko - neural network line follower

Posted on 09/12/2013 by michalkenshin
Modified on: 13/09/2018
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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.


motoko - neural network line follower

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.

following line

  • Actuators / output devices: pololu motors 1:30
  • CPU: msp430f2232
  • Operating system: DustEntityContainer
  • Power source: 7.2V 220mAh Dualsky Li-Pol
  • Programming language: C, ruby
  • Sensors / input devices: 8xCNY70, 3xIR LED RX?TX
  • Target environment: indoor
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