@@ -109,13 +109,61 @@ By investigating the odometry error model and compare it with real tests, it see
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@@ -109,13 +109,61 @@ By investigating the odometry error model and compare it with real tests, it see
To reach some noise factors that could give a more accurate error modelling, we tried to adjust the model according to our investigation as well as creating more turns and a longer travel distance on the test track (Picture 7). We also tried to adjust the distanceNoiseFactor and angleNoiseFactor to, private float distanceNoiseFactor = 0.3f; //0.2f and private float angleNoiseFactor = 1; //4f, to minimize the extent of the error calculated by PilotMonitor.
To reach some noise factors that could give a more accurate error modelling, we tried to adjust the model according to our investigation as well as creating more turns and a longer travel distance on the test track (Picture 7). We also tried to adjust the distanceNoiseFactor and angleNoiseFactor to, private float distanceNoiseFactor = 0.3f; //0.2f and private float angleNoiseFactor = 1; //4f, to minimize the extent of the error calculated by PilotMonitor.
##### Picture 7: new track where we used the following code to complete the track: travel(50);rotate(-90);travel(29);rotate(90);travel(18);rotate(90);travel(36);.
We then ran 5 tests were the final position where almost the same every time: 5 cm below and 1.5-2 cm to the left(Picture 8). This could be a manual error when drawing the circuit on the blackboard, which is likely since the results are so much a like. Even though
that the extent of the error illustrated by the PilotMonitor-pogram was difficult to compare to our observations, due to a missing scale on the GUI, we believe that these variables corresponded well to the finishing position we observed after multiple runs.
##### Picture 8: Showing our results after 5 tests with new route.
## Position tracking while avoiding objects
In this exercise we investigate how we can track the position of a vehicle moving in a fixed route by means of travel and rotate steps while the vehicle avoids objects in front of it ? To do this, we mount an ultrasonic sensor in front of the vehicle to detect objects as suggested in the exercise assignment.
The legocar has same physical design as in the experiments described above.
A simple solution would be to use a sequantial loop if we know the position of the obstacle. Such a solution could be like this where we use a predetermined route[PilotAvoid]:
