Subject:
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Re: Dead reckoning (was Re: Rover Programming)
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Newsgroups:
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lugnet.robotics
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Date:
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Thu, 27 Jun 2002 16:41:34 GMT
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Viewed:
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889 times
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> It's killing me. My first rotation sensor robots were inaccurate, so I
> started again with a new design with the rotation sensors on idler
> wheels rather than on the driven wheels. That was more inaccurate. So
> I've gone back to having the rotation sensors geared off the driven
> wheels, and I've at last achieved a robot which can (on a polished
> wooden floor) walk a one metre square and return to within 10cm of it's
> starting position. Wow! Achievement! However, like my first attempts,
> it turns more than the calculated amount on polished floors (presumably
> the inertia of the turn causes slip) and less than the calculated
> amount on carpet (presumably because of drag).
>
> So I'm now looking at software solutions that reduce inertia - i.e.
> gradually ramping up and down speed in turns. We'll see how this goes.
>
> I'm currently using the 8.5 centimetre wheels on my dead reckoning bot.
> Has anyone tried building a dead reckoning bot with tracks? How did it
> perform?
If you haven't already, check out
http://www.seattlerobotics.org/encoder/200108/using_a_pid.html
He was able to get quite precise dead-reckoning w/ a Lego bot by programming a
PID-type controller.
- Gareth
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Message has 1 Reply:
 | | Re: Dead reckoning (was Re: Rover Programming)
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| (...) WOW! That's impressive - but I can't help but get the impression that it's heavily optimised to going around that particular track. Getting that good positioning on the straight sections is impressive - but I wonder how it would have fared in (...) (22 years ago, 28-Jun-02, to lugnet.robotics)
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Message is in Reply To:
| | Dead reckoning (was Re: Rover Programming)
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| (...) A systematic search pattern is one solution. Not being too anal about it is another - random walking the domain will eventually explore the whole of it, although increasingly inefficiently as time goes on. (...) It's killing me. My first (...) (22 years ago, 27-Jun-02, to lugnet.robotics)
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