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Tham khảo tài liệu 'mcgraw.hill pic robotics a beginners guide to robotics projects using the pic micro ebook-lib part 8', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Braitenberg Vehicles 127 Figure 9.2 Graph of positive proportional transfer function. As sensor output increases motor output increases. Figure 9.3 Graph of negative proportional transfer function. As sensor output increases motor output decreases. Figure 9.4 Graph of digital transfer function. As sensor output increases output remains unchanged until threshold is reached then output switches full on. Vehicle A if both sensors are evenly illuminated by a light source will speed up and if possible run into the light source. However if the light source is off to one side the sensor on the side of the light source will speed a little faster than the sensor motor on other side. This will cause the vehicle to veer away from the light source see Fig. 9.7 . Vehicle B if both sensors are evenly illuminated by a light source will speed up and if possible run into the light source same as vehicle A . If the light source is off to one side vehicle B will turn toward the light source see Fig. 9.7 . 128 Chapter Nine Figure 9.5 Graph of gaussian function. As sensor output increases output follows a gaussian curve. Figure 9.6 Wiring of two Braitenberg vehicles labeled A and B. Negative proportional neural setups would show the opposite behavior. Building Vehicles It s time to put the theory to the test and see if it works. Let s assemble the materials needed to build a vehicle. The photovore s basic operating procedure is like Walter s robot. It tracks and follows a light source. The base of the vehicle is a sheet of aluminum 8 in long by 4 in wide by 1 8 in thick. We will use two gearbox motors for propulsion and steering and one multidirectional front wheel. We will try a new construction method with this robot. Instead of securing the gearbox motors with machine screws and nuts we will use 3M s industrial brand double-sided tape. This double-sided tape once cured is as strong as pop rivets. I tried to separate a sample provided by 3M. It consisted of two flat pieces of metal .
