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    Wall Follower

      

    As a direct application to my GP2D12 distance sensor, I built this wall follower. Its base is the Constructopedia RoverBot, I only added a turret bearing the sensor. The trick here is to direct sensor beam 45° away to also detect walls in front of vehicle. A simple program that maintains constant distance between wall and sensor creates a wall-following behaviour.

    Program

    The program is written with , it must be compiled and downloaded in RCX before using it. I use RCX command center shell to edit the source files.

    Construction

    This vehicle is a Constructopedia RoverBot equipped with a turret enabling rotation of sensor in the right direction. For the sake of completeness, here is how to build this turret:

    Wall follower in action: QuickTime movies


    Long trip (4x accelerated movie) - (290K) 


    Short trip (real speed movie) -  (190K)


LEGO® MINDSTORMS® and Technic®MINDSTORMS® EV3/NXTMINDSTORMS SensorsLEGO® technical dataLDrawMiscellaneous LEGO®LEGO® & PhotographyPanoramic PhotographyPhoto GalleryHome