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Wall following using Sharp sensors

Hey guys,

I'm using the following sensors for wall following (2 of them):


Everything is fine until I get too close to the wall i.e. <10 cm. How can this be fixed. I've found another sensor which has range from 3cm to 10cm. Should I use that or some mechanical solution or is it possible to fix te problem using just 2 of these sensors.

Thank you.

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1) Mount the sensors on the other side of the robot such that the width of the robot will add distance between the wall and the robot. Make this width 10cm. Now your sensor is never blind relative to the wall.

2) Add bump switch to detect when you hit a wall.

Thanks! A simple enough solution that I couldn't think of. I tried it and it actually works. Didn't bother with the bump switch though.