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Behavior:Wall Following - Revision history
2026-04-25T10:14:27Z
Revision history for this page on the wiki
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https://wiki.bespokerobotsociety.org/index.php?title=Behavior:Wall_Following&diff=50&oldid=prev
John: Claude edited based on my notes, prompt, and SimpleBot code repository
2025-10-11T16:48:27Z
<p>Claude edited based on my notes, prompt, and SimpleBot code repository</p>
<p><b>New page</b></p><div>{{Behavior<br />
| name = Wall Following<br />
| requires = [[Capability:Time-of-Flight Sensing]] or [[Capability:Ultrasonic Sensing]], [[Capability:Differential Drive]]<br />
| enables = [[Activity:Maze Solving]]<br />
| difficulty = Beginner<br />
| status = '''Stub''' - Algorithm not yet implemented<br />
}}<br />
<br />
'''Wall Following''' is a behavior (algorithm) that maintains a constant distance from a wall while moving parallel to it.<br />
<br />
== Overview ==<br />
<br />
'''This is a stub page.''' This behavior is not yet implemented in any BRS robot. This page exists to:<br />
* Document the algorithmic concept<br />
* Invite community members to implement it<br />
* Provide a starting point for algorithm design<br />
<br />
== Required Capabilities ==<br />
<br />
This behavior requires:<br />
<br />
* [[Capability:Time-of-Flight Sensing]]<br />
* [[Capability:Ultrasonic Sensing]]<br />
* [[Capability:Differential Drive]]<br />
<br />
== Enables Activities ==<br />
<br />
Implementing this behavior enables:<br />
<br />
* [[Activity:Maze Solving]]<br />
<br />
== Algorithm Outline ==<br />
<br />
Wall following uses distance sensing and proportional control:<br />
<br />
# Measure distance to wall<br />
# If distance < target: turn away from wall<br />
# If distance > target: turn toward wall<br />
# Drive forward<br />
<br />
For maze solving, consistently follow left or right wall until exit is reached.<br />
<br />
== Pseudocode ==<br />
<br />
<pre><br />
# Wall Following<br />
TARGET_DISTANCE = 20 # cm<br />
<br />
while True:<br />
distance_to_wall = read_distance_sensor()<br />
error = distance_to_wall - TARGET_DISTANCE<br />
<br />
turn_adjustment = error * gain # Proportional control<br />
<br />
left_speed = BASE_SPEED + turn_adjustment<br />
right_speed = BASE_SPEED - turn_adjustment<br />
<br />
set_motors(left_speed, right_speed)<br />
</pre><br />
<br />
== Implementation Challenges ==<br />
<br />
* **Corners**: Detecting and handling inside/outside corners<br />
* **Gaps**: What to do when wall disappears (doorways, openings)<br />
* **Obstacles**: Handling objects protruding from wall<br />
* **Sensor placement**: Angled sensors vs perpendicular sensors<br />
<br />
== Contributing ==<br />
<br />
Want to implement this behavior? Here's how:<br />
<br />
# Study the algorithm outline above<br />
# Implement in your language of choice (MicroPython, C++, Arduino)<br />
# Test on a robot with the required capabilities<br />
# Create an Implementation page (e.g., <code>[[YourRobot:Wall Following Implementation]]</code>)<br />
# Update this page with algorithm refinements<br />
# Share working code on GitHub<br />
<br />
== See Also ==<br />
<br />
* [[Behaviors]] - All behaviors<br />
* [[Capabilities]] - Hardware required<br />
* [[Activities]] - What this enables<br />
* [[Robotics Ontology]] - How behaviors fit into BRS knowledge structure<br />
<br />
[[Category:Behavior]]<br />
[[Category:Beginner Behavior]]<br />
[[Category:Stub]]</div>
John