... | ... | @@ -244,8 +244,8 @@ But if the Legocar meets any obstacles, then it just rotates 90 degrees and stan |
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In this assignment, we have experimented with the odometry provider and in extension, see how precise we can track the Legocar position.
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The first part concerned the accuracy of the position when using the premade variables and if the non-systematic odometry error model, modelled the error correctly. the preliminary tests we conducted showed that it drifted towards the left and also rotated to much. We ended up with a reasonable result that made it possible to track the position of the car with high accuracy. We then used these variables to investigate the non-systematic odometry error model. By conducting mulitple test, we ended up changing the variables to the following:
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private float distanceNoiseFactor = 0.3f;
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private float angleNoiseFactor = 1;
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private float distanceNoiseFactor = 0.3f;
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private float angleNoiseFactor = 1;
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Which made the pilotMonitor output the error with the accuracy that corresponded to our tests.
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