Differences

This shows you the differences between two versions of the page.

--- marvin:lab9 [2008/11/14 12:28] – rieper
+++ marvin:lab9 [2008/11/21 08:47] – rieper
@@ Line 44: / Line 44: @@
 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.
+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. A little noise was added to these measurements as the slippery surface of the whiteboard caused the wheels to spin a little. The acceleration was too high for this surface and one could have reduced the motor power.
 {{marvin:lab9-4.jpg?300}}
+====Conclusion====
+Due to problems with the compass which comprised both magnetic disturbances and a misinterpretation of the compass directions in the given coordinate system we did not reach a satisfactory implementation of the combined navigation system. The best performance was achieved without the compass, but we do not conclude on the precision of the compass, as it may still improve the overall precision when properly implemented in a suitable environment. Neither did we experiment with avoiding obstacles when travelling from point A to B. This may be achieved through a behaviour based program using the goto() function as it provides an easy way to store the alternations on the initial path and thereby finding the correct final destination anyhow.
+The final code: {{:marvin:navigatingcar.tar.gz}}