I am currently doing a project where we have to race around a track whilst avoiding obstacles (some moving). It’s 2 motors (one left and one right), a servo motor attached to the pixy (so we can look at the different lanes/obstacles).
So the track is configured as follows:
3 lanes, left, center and right (all different colors and set to different signatures)
Obstacles (same color so set to only one other signature)
I can easily follow each of those lanes, I can stop when I see the obstacle (avoidance not perfect yet) but am having trouble with:
Taking into account all lanes, center being the one used to generate the trajectory, how can I ensure that can get the robot to actually follow the racing line (i.e. identifying apex and using it to its advantage to reduce lap times)?
Since it’s a circuit, it can identify things that might be a bit in the distance, how should I compensate for that?
Thanks in advance for the help!