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.

• Download program

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:

• See step-by-step instructions
  

• Download the LeoCAD design file

Wall follower in action: QuickTime movies