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#5
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Sensors huh?
I agree that if something goes wrong with dead reckoning code you are totally screwed, however, when it works, it works really well, and FAST, and in this competition, FAST is really important.
Also, after playing around with the optical sensors in the kit, i decided that they weren't useful enough to get me where i wanted to go. I even tried hybrid dead-reckon/line follow code. Its not a code issue, its just that the movement of the robot is too jerky and imprecise to align a sensor. I'd need about 9 sensors to always have at least one on the line, which just isn't worth the 2^9 states worth of programming. I considered using an ultrasonic range finder, but didn't have time to get one/test. I thought a set of three might be useful for collision detection, etc. Other things were a fifth wheel rotational counter, which we didn't have weight for and doesn't compute direction. In order to have really good autonomous behavior you need so many types and quantities of sensors that its not worth the expense or trouble. I figure to get a good position and heading plus obstacle avoidance i'd need 3 ultrasonic sensors, fifth wheel, plus maybe an RF triangulation system (which is highly illegal per FIRST) or something like it. Basically, all things considered, mostly time and weight and cost, dead reckoning is most bang for buck. Certainly not smart at all, but its useful enough. And FIRST is often about good enough. ( as evidenced by the love of hammers ) |
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