Ausarbeitung/experiment3.tex

   1 \chapter{Experiment 3: Movement Behavior with Constant Start/Stop
   2 Acceleration}
   3 \label{sec:exp3}
   4
   5 The third experiment tried to correct the slippage of the wheels on the floor
   6 that possibly occurred in Experiment~1 when the Roomba suddenly started or
   7 stopped. Due to inertia, the Roomba's movements are delayed and the influence
   8 of that effect could be large enough to be measurable.
   9
  10 To achieve that, the Roomba's velocity was not changed abruptly, as in
  11 Experiment~1, but it was increased and decreased at a constant rate over a
  12 time interval of 1~second. No mean correction was involved as in Experiment~2.
  13
  14 \section{Setup}
  15 Again, the hardware setup was the same as already in the other two
  16 experiments. The application used for measuring data was
  17 \prog{soft\_start\_test}, which is described in Section~\ref{sec:impl:soft}.
  18
  19 \section{Results}
  20 \begin{figure}
  21  \centering
  22  \includegraphics[width=\textwidth]{images/iz250flur_drive-soft_data.pdf}
  23  \caption{Behavior with constant start/stop acceleration, laminated floor,
  24 straight drive movements}
  25 \end{figure}
  26 \begin{figure}
  27  \centering
  28  \includegraphics[width=\textwidth]{images/iz250flur_turn-soft_data.pdf}
  29  \caption{Behavior with constant start/stop acceleration, laminated floor,
  30 turn movements}
  31 \end{figure}
  32 \begin{figure}
  33  \centering
  34  \includegraphics[width=\textwidth]{images/seminarraum_drive-soft_data.pdf}
  35  \caption{Behavior with constant start/stop acceleration, carpet floor,
  36 straight drive movements}
  37 \end{figure}
  38 \begin{figure}
  39  \centering
  40  \includegraphics[width=\textwidth]{images/seminarraum_turn-soft_data.pdf}
  41  \caption{Behavior with constant start/stop acceleration, carpet floor,
  42 turn movements}
  43 \end{figure}
  44
  45 The data shows mostly no difference to the original behavior from
  46 Experiment~1. Apparently inertia and slippage do not influence the accuracy of
  47 the movement.