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 15:55:43 GMT
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Original-From:
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Jona <jjeffords@ameritech.SPAMCAKEnet>
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Viewed:
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3101 times
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Hi Simon,
In my experience casters can introduce errors in the navigation since they
tend to not be in the correct position following a turn. Over time this
small error can add up. I have had some success by rebuilding my bot to
center as much of the weight of the bot over the drive axle, and then using
a skid plate instead of a caster. The centralized weight allows the wheels
to bear the burden, and the skid plate only actually touches the ground for
split seconds at a time when there is a change in momentum.
If you find you are still having some problems with your current setup, you
may consider losing the casters.
Jona
----- Original Message -----
From: "Simon Brooke" <simon@jasmine.org.uk>
To: <sjbaker1@airmail.net>; <lego-robotics@crynwr.com>
Sent: Friday, June 28, 2002 4:30 AM
Subject: Re: Dead reckoning (was Re: Rover Programming)
> On Friday 28 Jun 2002 8:27 am, you wrote:
> > 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.
>
> 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 that, with tweaks to the robot and
> the code, I can get down to 1% error.
>
> I'm *very* encouraged.
>
> > The two-large-wheels-plus-caster(s) seems to be the undesputed best
> > design for navigation (at least with Lego parts).
>
> Oh, well, I'm currently using two large wheels plus two casters, so I'm
> probably OK.
>
> Cheers
>
> Simon
>
> --
> simon@jasmine.org.uk (Simon Brooke) http://www.jasmine.org.uk/~simon/
>
> ;; when in the shit, the wise man plants courgettes
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Message is in Reply To:
 | | 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 (...) (24 years ago, 28-Jun-02, to lugnet.robotics)
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