@@ -327,8 +327,9 @@ In this lesson we have performed expriements with various robot contructions and
Two sensors,light and color sensor, was analyzed in a PID conrol context.
Bedre gyro -> Sensor fusion
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.