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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Fri, 28 Jun 2002 07:27:37 GMT
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Original-From:
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Steve Baker <sjbaker1@airmail.net&saynotospam&>
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Reply-To:
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SJBAKER1@AIRMAIL.NETavoidspam
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Viewed:
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823 times
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Simon Brooke wrote:
> 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.
Yes - managing accelleration is a 'must'...both in speeding up and slowing
down - and easing into turns. An abrupt change of speed will generally
result in wheel slip.
> 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?
It was good in a straight line - but *hopeless* in a turn because
the point that it rotated around wasn't well defined and depended on
the surface, the way the tracks were stored (Are your's squashed into
an elliptical shape?)...so overall, I don't think much of using tracks.
The two-large-wheels-plus-caster(s) seems to be the undesputed best design
for navigation (at least with Lego parts).
----------------------------- Steve Baker -------------------------------
Mail : <sjbaker1@airmail.net> WorkMail: <sjbaker@link.com>
URLs : http://www.sjbaker.org
http://plib.sf.net http://tuxaqfh.sf.net http://tuxkart.sf.net
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http://toobular.sf.net http://lodestone.sf.net
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Message has 1 Reply:
 | | Re: Dead reckoning (was Re: Rover Programming)
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| (...) Well, I did the code changes to do acceleration and deceleration yesterday and it's amazingly successful. I'm not yet quite as good as the Seattle robot, but I suspect that's at least partly because mine has a narrower track. I now believe (...) (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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