-\chapter{Conclusions}
-\todo{. }
+\chapter{Conclusion and Future Work}
+The previous chapters have presented the original motion behavior of the
+Roomba, besides two different approaches to improve dead reckoning. This goal
+could be reached only in parts, for laminated floors using the mean correction
+in Experiment~2. However, there is still many potential to work towards that
+goal.
+
+The set of measured data in this work was relatively small to serve as a
+good representation of the world. Only two types of floors were used, and a
+fixed set of parameters for the movements. One possibility here is to widen the
+data set, probably using not only fixed values but maybe also a stochastic
+approach to determine the input values. Furthermore, only the target distance
+resp. orientation, and the velocity were considered as factors to affect the
+measured value. There are still much other factors to consider, for example the
+voltage and capacity of the Roomba's internal battery. Also, the Roomba can
+move not only in straight lines and turn on the spot, but also drive arcs.
+Additionally, it is not sure how different robots or different Roomba
+models behave when it comes to movement.
+
+As mentioned in Section~\ref{sec:exp2:results}, a quadratic regression could be
+applied to the data, which results in a better fit function and a closer
+approximation to the measured data. This may probably improve the mean
+correction approach from Experiment~2, and also correct errors better when
+driving on carpet floors.
\ No newline at end of file
projects / bachelor-thesis / written-stuff.git / blobdiff