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motoko reloaded - msp430 neural network line follower

Posted on 15/01/2014 by michalkenshin
Modified on: 13/09/2018
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line follower using two linear neurons (controllers) PD for differential and I for speed; both with antiwindup, error filtering and simulated annealing tunning (take about 80 loops in short testing line loop); second controll stage is curve predictor - table of curves to prevent overshoot (still present)


motoko reloaded - msp430 neural network line follower

line follower using two linear neurons (controllers) PD for differential and I for speed; both with antiwindup, error filtering and simulated annealing tunning (take about 80 loops in short testing line loop); second controll stage is curve predictor - table of curves to prevent overshoot (still present)

line follower

  • Actuators / output devices: DC Motors, pololu
  • Control method: modified pid with curve predictor, simulated annealing learning
  • CPU: msp430f2232
  • Operating system: none
  • Power source: 2S lipol 250mAh / 400mAh
  • Programming language: C, ruby
  • Sensors / input devices: accelerometer, gyro, 8x cny70, 3x ir
  • Target environment: indoor
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