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Add conclusion part authored by Steffan Lildholdt's avatar Steffan Lildholdt
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Lesson-5.markdown
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......@@ -327,11 +327,7 @@ In this lesson we have performed experiments with various robot constructions an
Two sensors, a light and color sensor, was analyzed in a PID control context. With the right surface and the right lighting we were able to make the robot balance for ~25 seconds. However just by introducing natural light the robot was only able to balance for ~2 seconds which is a significantly deterioration. The same applies to the surface where a non-uniform also yields a deterioration. From this we can conclude that when using these types of sensors in a control context the surroundings should be kept in mind.
According to our results the color sensor performed better than the light sensor.
Two sensors, light and color sensor, was analyzed in a PID control context.
According to our results the color sensor performed better than the light sensor under the same conditions. With a similar output from the sensors we were not able to determine the why the color sensor was superior.
The self-balancing performance when using the gyro based robot was low. This was mostly due to small errors in angle calculation accumulating over time, causing the robot to loose track of the current angle and then falling over. Since the error in the calculated value was positive in all experiments, we think the sensor may have been more sensitive in the positive direction than the negative. Other sources of error includes the looseness of the construction causing the robot and in turn the gyro measurements to oscillate. We also believe that the motor was introducing tremors, however we did not test this.
The setup of this robot could possibly be enhanced by introducing sensor fusion using a light or color sensor. This would introduce an absolute value corresponding to the angle of the robot, as opposed to the dead-reckoning style approach used in this exercise.
......@@ -358,6 +354,7 @@ Although no specific test of the motor and sensors performance vs battery level
[Exercise 1] - https://www.youtube.com/watch?v=kqeq5SVmsWQ&feature=youtu.be
[Exercise 2] - https://www.youtube.com/watch?v=tngSdW6aB80
[Exercise 2 - Color sensor] - https://www.youtube.com/watch?v=tngSdW6aB80
[Exercise 2 - Light sensor] - https://youtu.be/b9SHS9YStsw
[Exercise 3.1] - http://youtu.be/fDe9IyF4uy8