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P a g e
H2. Enhancements
•
Only scan left and right up to 90 degrees the first time
•
Stop every 10 degrees when scanning to make
sure scan detects vehicle (moving too fast doesn’t work)
•
Use movement sensor to detect a collision or the bot lifted off the ground (pitch or roll) and respond to that
(see Appendix 1)
•
If motion is stopped for x seconds, use a series of rapid wheel movements (e.g. back and forth) to try and get
free
•
Use a different strategy:
▪
Follow white line around the outside (use L2 or R2)
▪
Drive to a random place
▪
Drive forward until white line and turn and randomly go somewhere else until white line
•
Use more than one ultrasonic sensor at different angles
