marvin:lab9
Differences
This shows you the differences between two versions of the page.
Both sides previous revisionPrevious revisionNext revision | Previous revisionNext revisionBoth sides next revision | ||
marvin:lab9 [2008/11/14 12:00] – rieper | marvin:lab9 [2008/11/14 12:28] – rieper | ||
---|---|---|---|
Line 33: | Line 33: | ||
====Test Drive==== | ====Test Drive==== | ||
+ | If both calibrations were precise the robot should be able to navigate precisely around in a cartesian coordinate system. The testrun is shown on the figure below together with a video of the performance. There seems to be a weakness in the rotations, but the distance is very accurate. One way to improve the precision during rotations could be to add a compass. | ||
+ | |||
{{marvin: | {{marvin: | ||
[[http:// | [[http:// | ||
+ | |||
+ | ====Adding the Compas==== | ||
+ | We do not know much about the compass as to how it measures and whether the readings from 0 to 360 degrees are truly linear. But we assume the compass has a higher precision than the tachometer readings and we also assume the output readings from the compass to be a linear function of the sensor input. | ||
+ | |||
+ | |||
+ | There were magnetic disturbances at the test area, which of course made the compass inaccurate. | ||
+ | |||
+ | The precision of the compass was tested by placing a marker on the robot. In this way we can simply measure the deviation by letting the robot turn on a whiteboard and measuring the angle. | ||
+ | |||
+ | {{marvin: |
marvin/lab9.txt · Last modified: 2009/01/12 09:04 by deva