Today's goal was to come up with a strategy to reduce the chance for the robot to hit the wall, so that the it could nevigate through the maze smoothly.
After a few discussions and exchanging ideas, the group agreed to use two ultra sonic sensor to perpendicularly line-up the robot with a wall so that it will always start moving in a straight line normal to the wall after it make a 90 degree turn.
Since this type of calibration required at least two ultra sonic sonar, the group perchased another sonar from the robotic team and installed it onto the robot.
The twin-sonar scheme worked fine when the sonars are installed at the left and right front end of the forward bumper. Yet the reading unit for the sonar are in inches, There exist an error in the sonar that the robot would not always be straightened.
Therefore, the forward bumperer is added with a longer beam that will extend the sonar even further apart to minimaze the tolerace.
When the robot is tested after modication, the result from using the same code poofed that extending the sonar further apart will increase the accuracy.
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