\chapter{Experiment 2: Movement Behaviour with Mean Correction}
\todo{}
+\label{sec:exp2}
As presumed in Section \ref{exp1:results}, errors in the Roomba's movements
could originate from imprecise measurement of the Roomba's internal sensors or
\centering
\includegraphics[width=\textwidth]{images/iz250flur_drive-mean_data.pdf}
\caption{Behaviour with mean correction on laminated floor, straight drive
-tests}
+movements}
\end{figure}
\begin{figure}[p!]
\centering
\includegraphics[width=\textwidth]{images/iz250flur_turn-mean_data.pdf}
- \caption{Behaviour with mean correction on laminated floor, turn tests}
+ \caption{Behaviour with mean correction on laminated floor, turn movements}
\end{figure}
\begin{figure}[p!]
\centering
\includegraphics[width=\textwidth]{images/seminarraum_drive-mean_data.pdf}
\caption{Behaviour with mean correction on carpet floor, straight drive
-tests}
+movements}
\end{figure}
\begin{figure}[p!]
\centering
\includegraphics[width=\textwidth]{images/seminarraum_drive-mean_data.pdf}
- \caption{Behaviour with mean correction on carpet floor, turn tests}
+ \caption{Behaviour with mean correction on carpet floor, turn movements}
\end{figure}
results better than in experiment 1, very accurate for laminate floor, carpet