"hacked" version, now with graphics

[bachelor-thesis/written-stuff.git] / Ausarbeitung / experiment1.tex

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+\chapter{Experiment 1: Original Movement Behaviour}
+\todo
+\section{Setup}
+
+\begin{figure}[htp]
+ \centering
+ \includegraphics[width=0.45\textwidth]{./images/IMAGE_00079.jpg}
+ \caption{Roomba with netbook}
+\end{figure}
+\begin{figure}[htp]
+ \centering
+ \includegraphics[width=0.6\textwidth]{./images/IMAGE_00148.jpg}
+ \caption{Measuring turn angles with laser pointer}
+\end{figure}
+
+Description of experiment setup: netbook on Roomba, application
+"`roomba\_tests"' started which took care of the input values, user was asked
+to measure \& input the data. there were Turn tests and straight drive tests,
+different floor types: laminate and carpet floor.
+
+drive tests: measuring was done with measuring tape. error perpendicular to
+roomba's viewing direction was too small to be measured.
+
+velocities =  20, 50, 70, 100, 150, 200, 300, 400 mm/s \\
+distances =  20, 50, 100, 200, 500, 1000, 2000, 4000 mm
+
+turn tests: measuring with polar coordinate system of about 1~m diameter, roomba
+in the center, laser pointer points to measured value.
+
+velocities =  20, 50, 70, 100, 150, 200, 300, 400  mm/s\\
+turn angles =  5, 15, 30, 45, 90, 120, 180, 360, 530, 720 degree
+
+\section{Results}
+\begin{figure}
+ \centering
+ \includegraphics[width=\textwidth]{images/iz250flur_drive_data.pdf}
+ \caption{foo}
+\end{figure}
+\begin{figure}
+ \centering
+ \includegraphics[width=\textwidth]{images/iz250flur_turn_data.pdf}
+ \caption{foo}
+\end{figure}
+\begin{figure}
+ \centering
+ \includegraphics[width=\textwidth]{images/seminarraum_drive_data.pdf}
+ \caption{foo}
+\end{figure}
+\begin{figure}
+ \centering
+ \includegraphics[width=\textwidth]{images/seminarraum_turn_data.pdf}
+ \caption{foo}
+\end{figure}
+
+Absolute error becomes greater with increasing velocity and input value, but
+error is smaller on carpet floor.
+\todo{statistical values, stddev?}