... | ... | @@ -46,3 +46,11 @@ In order to minimise the error we replaced the wide offroad wheels with slim whe |
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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. 5).
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![Skærmbillede 2015-06-01 kl. 09.32.02](http://gitlab.au.dk/uploads/group-22/lego/1283b932a5/Sk%C3%A6rmbillede_2015-06-01_kl._09.32.02.png)
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These values are very close to the ones we noted on the paper grid layout.
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Compared to the previous experiment the error of 0.225 % is significantly smaller than 1.075 % from test 1 meaning that the slim wheels where more accurate for precision driving. However the same result may also be achieved with the wide wheels if the trackWidth and wheelDiameter values are properly adjusted.
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### Measurement and Correction of Systematic Odometry Errors in Mobile Robots
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There is two dominant errors [1] which can occur within the differential-drive mobile robots: Uncertainty about the wheelbase and unequal wheel diameters. |
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