• Forbedringer (Diskussion)
  • Andre reguleringsmetoder
  • Mere stabilitet, metoder eller tanker omkring dette
  • GUI til parameter opdatering

Eventhough we are quite pleased with the performance of Marvin there are some issues that we would like to improve in the future if the opportunity presents itself.

Marvin is able to balance, drive a around randomly and avoid abstacles. He is also able to be remote controlled by Bluetooth. However these two do not operate together. We did not find a solution to this problem, but it is a high priority in the group because it is an essential part of the behaviour architecture. A solution to this could be to investigate. The scenario we would like to see is that Marvin can be remote controlled for some period of time. When there for some time have been no connection either because it has been lost, or no one is pushing the control buttons, Marvin would start to drive around randomly. And of course he will still avoid any obstacles in front if him. We do not want some evil mad man to do harm to Marvin.

We chose to use a PID controller for the simplicity, but it could be interesting to investegate some other controllers and see if it was possible to do some analytical work to see which one is best. The controllers of interest could be LQR controller and Pole-Placements. These are mere a few amongst many. We are curios whether it is possible to push the PID to better stability, or it is at its limit and that we will have to turn to other controller algorithms to achive better performance.

Optimering af program kørsel således BT behaviour kan køres samtidig med avoidfront og den anden så en fuld implementering en muligt. Kan gøres ved at kigge lidt mere på kodeafviklling, optimering af denne og eventuelt kontrol lykken i det hele taget.

* Sammenhold lab 11 med resultater (Konklusion)