... | @@ -138,11 +138,11 @@ After some fine tuning we discovered that a wheelDiameter value of 3.025 reveale |
... | @@ -138,11 +138,11 @@ After some fine tuning we discovered that a wheelDiameter value of 3.025 reveale |
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![IMG_0681](http://gitlab.au.dk/uploads/group-22/lego/ca29af600f/IMG_0681.JPG)
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![IMG_0681](http://gitlab.au.dk/uploads/group-22/lego/ca29af600f/IMG_0681.JPG)
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##### Fig. 17 - Ending position with wheel diameter at 3.025.
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##### Fig. 17 - Ending position with wheel diameter at 3.025.
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### Causes for different Odometry (forklar i forhold til teorien generelle fejlkilder)
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### Causes for different Odometry
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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.
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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.
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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.
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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.
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### Adjusting trackWidth through rotation
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### Adjusting trackWidth through rotation
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... | @@ -266,4 +266,5 @@ Indsæt video - Fig. 31 |
... | @@ -266,4 +266,5 @@ Indsæt video - Fig. 31 |
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[1] - http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson10.dir/paper58.pdf
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[1] - http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson10.dir/paper58.pdf
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[2] - http://commons.wikimedia.org/wiki/File:Particle2dmotion.svg
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[2] - http://commons.wikimedia.org/wiki/File:Particle2dmotion.svg
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[3] - http://en.wikipedia.org/wiki/Dead_reckoning |
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[3] - http://en.wikipedia.org/wiki/Dead_reckoning
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[4] - http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson10.dir/paper58.pdf |
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