Zumo NSGA-II Line Follower (Loose + Recovery)

This project is an experimental Zumo robot line follower designed for high-speed tuning using NSGA-II.
The robot intentionally allows looser line tracking to achieve faster runtimes, while using recovery behaviors to avoid runaway failures.

The workflow is:

1. Run the robot
2. Collect a single CSV summary line from Serial
3. Paste into trials.csv
4. Run at least 6 trials
5. Use NSGA-II to evolve better parameters
6. Paste the next suggested parameters back into the Arduino code
7. Repeat

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Hardware

• Pololu Zumo Shield
• Arduino Uno
• Zumo Reflectance Sensor Array
• Zumo Motors
• User Button (on Zumo)

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Required Libraries

Before running please install the ZumoShield Library:

1. In the Arduino IDE, open the "Sketch" menu, select "Include Library", then "Manage Libraries...".
2. Search for "ZumoShield".
3. Click the ZumoShield entry in the list.
4. Click "Install".

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Key Features

Loose Line Following

• Reduced twitchiness
• Turn capping
• Milder speed slowdown in corners
• Prioritizes speed over perfect centering

Recovery Behaviors

• Line-lost detection (all sensors white)
• Search pivot to reacquire line
• Corner-stuck escape if error stays large too long
• Prevents “runaway” straight-line failures

Abort During a Run

• During a run, you can type:

F

into the serial monitor to abort a run

• You can also hold down the zumo button for about 1s to abort however the feature does not fully work

NSGA-II Integration

• Parameters are injected via a single macro:

  #define NSGA_PARAMS kp,kd,base_speed,min_base_speed,corner1,corner2,corner3,brake_pwr