Building Robots With Lego Mindstorms

Replicating Renowned Droids • Chapter 18 359

Larger angles make your robot more tolerant and flexible, but they will slow

down the search process.

In the mobile head version, you can even program your robot to scan the

environment while it moves. In this case, we suggest you adopt a different strategy:

read three values, one at the right (e.g., about 30°), one at the corresponding

angle to the left, and one for the center. If the central value is the highest one,

continue straight on; otherwise, slightly correct the angle of the route so the

robot continues in the direction of the strongest reading.With this technique, the

robot makes frequent small cor ...