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rhoude57 - YUL Posted at 9-27 14:30
An interesting extension would be to add a line following function. Unfortunately, because the camera is taken for robot detection, recognition and tracking, it would be necessary to add a Line Follower Module to the underside of the S1 and read the reflected energy signal.
The Sentry Patrol Line could mimick that of the Real Sentry, curves and all with U-turn loops at each end.
I did not play with line recognition yet but I intend to do it soon. One way to do this would be:
1 - Find line, start following it.
2 - After a while stop and do a sweep to try to find other bots.
3 - If robots are found, switch to tracking mode.
4 - if robots are not found or the ones found disappeared, follow the line a bit more).
In 3. we can even ignore robots that are not close enough using my distance functions.
The main problems with line following is that as I understand it it only works reliably if the camera is pointing down. I will have to test it. if we can get the camera up enough that it can see (and detect) the line and also see reasonably far in front of it, we might be able to detect incoming robots even when tracking the line.
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