>
>I'm thinking along the lines of a vision based system.

You may not need full vision, if you can sense the line at multiple points.
The far out ones would tell you what's coming up, and the nearest would
tell you where you are. You should be able to feed that into a PID sort of
system pretty easily.

Getting the constants would be more interesting, and would probably take a
fixed (stencilled?) test pattern in the start of the run.  You could always
abort and hit the brakes if the CPU isn't happy with the result of the cal
stripe.

Paint might not be the best thing to sense here..
Is a buried wire acceptable?  Feedback rate should be higher, and a lot
less affected by junk and gaps in the paint.

I know they guide vehicles this way in the arctic, fully automatic
steering. (lower speed though, since they have passengers.)

--
http://www.piclist.com hint: PICList Posts must start with ONE topic:
[PIC]:,[SX]:,[AVR]: ->uP ONLY! [EE]:,[OT]: ->Other [BUY]:,[AD]: ->Ads