... | ... | @@ -30,6 +30,26 @@ The plan is to follow the plan described in [1]. |
|
|
|
|
|
## Calibration of wheel diameter and the track width
|
|
|
|
|
|
#### Initial square run with calibrated values
|
|
|
|
|
|
| Parameter | Value |
|
|
|
| ------------------------- |:---------------:|
|
|
|
| Left wheel diameter | 5.539 cm |
|
|
|
| Right wheel diameter | 5.544 cm |
|
|
|
| Track width | 16.27 cm |
|
|
|
|
|
|
|
|
|
| Attempt | Measured x | Measured y | Calculated x | Calculated y |
|
|
|
| -------- |:-------------:| -----------:| ------------:| ------------:|
|
|
|
| 1 | -10.00 mm | -13.00 mm | 1.30 mm | -1.30 mm |
|
|
|
| 2 | -10.00 mm | -10.00 mm | 2.80 mm | -2.80 mm |
|
|
|
| 3 | -13.00 mm | -15.00 mm | 3.00 mm | -1.80 mm |
|
|
|
|
|
|
|
|
|
|
|
|
#### Tweaking parameters according to square run with left turns.
|
|
|
|
|
|
|
|
|
| Parameter | Value |
|
|
|
| ------------------------- |:---------------:|
|
|
|
| Left wheel diameter | 5.539 cm |
|
... | ... | @@ -48,8 +68,30 @@ The plan is to follow the plan described in [1]. |
|
|
| 3 | -1.00 mm | 0.00 mm | 1.80 mm | -2.30 mm |
|
|
|
|
|
|
|
|
|
|
|
|
#### Reversed square with right turns
|
|
|
|
|
|
| Attempt | Measured x | Measured y | Calculated x | Calculated y |
|
|
|
| -------- |:-------------:| -----------:| ------------:| ------------:|
|
|
|
| 1 | 30.00 mm | 40.00 mm | 1.30 mm | 2.30 mm |
|
|
|
| 2 | -27.50 mm | -30.00 mm | 5.20 mm | 2.70 mm |
|
|
|
|
|
|
|
|
|
#### Final parameters
|
|
|
|
|
|
| Parameter | Value |
|
|
|
| ------------------------- |:---------------:|
|
|
|
| Left wheel diameter | 5.539 cm |
|
|
|
| Right wheel diameter | 5.544 cm |
|
|
|
| Track width | 16.27 cm |
|
|
|
|
|
|
|
|
|
## Position tracking by means of particle filters
|
|
|
|
|
|
500 mm kørt distance. Afstand fra mål ~0.5 mm = dist_err = 0.001
|
|
|
Rotation error ~0.5 degrees. 0.5/360 = 0,00138
|
|
|
|
|
|
|
|
|
## Conclusion
|
|
|
|
|
|
|
... | ... | |