@@ -55,7 +55,7 @@ In this experiment the robot should have travelled a total of 20*4=80 cm. Using
In order to minimise the error we replaced the wide offroad wheels with slim wheels with a slightly smaller diameter. The slim wheels have a diameter of 30 mm and a track width of 15 cm. Additionally we equipped the robot with an extended pointer to make sure the robot drives straight from the beginning.
##### Fig. 5 - Robot with slim wheels - end position aften run.
This time the robot ended 1 mm to the right and 1.5 mm in front of the initial position revealing an error of (80.18/80*100)-100 = 0.225 %. The robot’s pose values show that the robot have travelled 1.6 mm too far and 1.7 mm to the right (see fig. 6).
