motoko - neural network line follow

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motoko - neural network line follower

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Introduction

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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
motoko - neural network line follower

motoko - neural network line follower

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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motoko - neural network line follower

motoko - neural network line follower

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