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Parameters updated authored May 28, 2015 by lildholdt's avatar lildholdt
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Lesson10.markdown
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......@@ -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
......
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