##### Fig. 17 - Ending position with wheel diameter at 3.025.
### Causes for different Odometry (forklar i forhold til teorien generelle fejlkilder)
### Causes for different Odometry
In [7] causes for different odometry errors are described, both systematic errors e.g. caused by unequal wheel diameters and non-systematic errors e.g. caused by wheel-slippage due to irregularities of the surface or over-acceleration. According to [7] the non-systematic errors can be reduced significantly by adjusting the wheel diameters and track width used in the software. In [7] a method is given that reduces the systematic odometry errors. We will, however, in the following use a more ad hoc method.
In [4] causes for different odometry errors are described, both systematic errors e.g. caused by unequal wheel diameters and non-systematic errors e.g. caused by wheel-slippage due to irregularities of the surface or over-acceleration. According to [4] the non-systematic errors can be reduced significantly by adjusting the wheel diameters and track width used in the software. In [4] a method is given that reduces the systematic odometry errors. We will, however, in the following use a more ad hoc method.
Vi observerede også at den altid drejer til den samme side. Derfor prøvede vi at bytte rundt på hjulene for at se om den drejede til modsatte side.
Lastly we observed a systematic error where the robot shifted slightly to one side. To fix this we tried switching the wheels to opposite sides and this fixed the problem.
