Robotic Tape Follower

Assume that tape has been placed on the floor and that the tape's color is significantly different (i.e., darker or lighter) than the floor. This problem asks you to write a program that will control the robot to follow the tape for at least a minute or two.

Programming notes

In the lab on image processing, one exercise asks to locate an area of the brightest light in a picture. In this problem, use a similar approach to find the edge of a piece of tape on the floor. Since the color of the tape contrasts with the floor, one should scan a picture from the robot to determine where the color changes substantially from light to dark or dark to light.

• If the color change is approximately straight ahead, the robot might go forward a short distance before taking another picture.
• If the color change on the left side of the picture, the right motor might be directed to move more quickly than the left motor, so the robot will move somewhat to the left. The farther the color change is to the left, the more the difference between the right and left motors. After moving a short distance, the robot might stop and take another picture.
• If the color change is to the right, the right motor might be directed to move less quickly than the left motor, so the robot will move somewhat to the right. The farther the color change is to the left, the more the difference between the right and left motors. After moving a short distance, the robot might stop and take another picture.

Overall, the robot should follow a tape that winds left and right around the floor for at least 10 or more feet.