Autonomous lawn mower and perimetral wire following

hi everyone,

i'm trying build robotic lawn mower small garden.
the electronic part handling perimeter wire done , working. handle "going home" of robot when battery low.
i can follow 2 ways:
- when battery low, robot follow wire until reaches "home".
- goes home through calculations on position.

i'm trying use first way, seems harder expected.
the real problem not following wire, positioning on wire! robot arrive direction, don't know how position robot on line, ready follow it...

it has 2 magnetic sensors on front, positioned 45° respect forward direction. i'm not sure if 2 needed, @ moment it..

any advice?
thanks

if you're after, robot needs approach wire on angle, close not quite parallel, straighten when straddling wire.

let's assume robot has turn right, onto wire, when senses it.

if robot arrives @ wire , senses on both sensors @ once, knows it's @ right angles wire, slightly, turn right little, try again. if senses wire on left sensor, (which should), can move forward little until left sensor crosses wire , right sensor picks wire.

if time between left right sensors 'seeing' wire short, again, turn right again, try again, until period between left , right sensors 'seeing' wire little longer, @ point robot closer parallel wire, , straddling it.

if on first contact wire 'sees' right sensor, knows , turn right well, until left sensor first sense wire, go through above process.

(or reverse of of if has turn left onto wire.)

once robot sraddling wire, should able follow it.

is you're after, or way off-track?

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