Ausarbeitung/experiment1.tex

   1 \chapter{Experiment 1: Original Movement Behaviour}
   2 \todo
   3 \section{Setup}
   4
   5 \begin{figure}[htp]
   6  \centering
   7  \includegraphics[width=0.45\textwidth]{./images/IMAGE_00079.jpg}
   8  \caption{Roomba with netbook}
   9 \end{figure}
  10 \begin{figure}[htp]
  11  \centering
  12  \includegraphics[width=0.6\textwidth]{./images/IMAGE_00148.jpg}
  13  \caption{Measuring turn angles with laser pointer}
  14 \end{figure}
  15
  16 Description of experiment setup: netbook on Roomba, application
  17 "`roomba\_tests"' started which took care of the input values, user was asked
  18 to measure \& input the data. there were Turn tests and straight drive tests,
  19 different floor types: laminate and carpet floor.
  20
  21 drive tests: measuring was done with measuring tape. error perpendicular to
  22 roomba's viewing direction was too small to be measured.
  23
  24 velocities =  20, 50, 70, 100, 150, 200, 300, 400 mm/s \\
  25 distances =  20, 50, 100, 200, 500, 1000, 2000, 4000 mm
  26
  27 turn tests: measuring with polar coordinate system of about 1~m diameter, roomba
  28 in the center, laser pointer points to measured value.
  29
  30 velocities =  20, 50, 70, 100, 150, 200, 300, 400  mm/s\\
  31 turn angles =  5, 15, 30, 45, 90, 120, 180, 360, 530, 720 degree
  32
  33 \section{Results}
  34 \begin{figure}
  35  \centering
  36  \includegraphics[width=\textwidth]{images/iz250flur_drive_data.pdf}
  37  \caption{foo}
  38 \end{figure}
  39 \begin{figure}
  40  \centering
  41  \includegraphics[width=\textwidth]{images/iz250flur_turn_data.pdf}
  42  \caption{foo}
  43 \end{figure}
  44 \begin{figure}
  45  \centering
  46  \includegraphics[width=\textwidth]{images/seminarraum_drive_data.pdf}
  47  \caption{foo}
  48 \end{figure}
  49 \begin{figure}
  50  \centering
  51  \includegraphics[width=\textwidth]{images/seminarraum_turn_data.pdf}
  52  \caption{foo}
  53 \end{figure}
  54
  55 Absolute error becomes greater with increasing velocity and input value, but
  56 error is smaller on carpet floor.
  57 \todo{statistical values, stddev?}