\chapter{Experiment 3: Movement Behavior with Constant Start/Stop
Acceleration}
\label{sec:exp3}

The third experiment tried to correct the slippage of the wheels on the floor
that possibly occurred in Experiment~1 when the Roomba suddenly started or
stopped. Due to inertia, the Roomba's movements are delayed and the influence
of that effect could be large enough to be measurable.

To achieve that, the Roomba's velocity was not changed abruptly, as in
Experiment~1, but it was increased and decreased at a constant rate over a
time interval of 1~second. No mean correction was involved as in Experiment~2.

\section{Setup}
Again, the hardware setup was the same as already in the other two
experiments. The application used for measuring data was
\prog{soft\_start\_test}, which is described in Section~\ref{sec:impl:soft}.

\section{Results}
\begin{figure}
 \centering
 \includegraphics[width=\textwidth]{images/iz250flur_drive-soft_data.pdf}
 \caption{Behavior with constant start/stop acceleration, laminated floor,
straight drive movements}
\end{figure}
\begin{figure}
 \centering
 \includegraphics[width=\textwidth]{images/iz250flur_turn-soft_data.pdf}
 \caption{Behavior with constant start/stop acceleration, laminated floor,
turn movements}
\end{figure}
\begin{figure}
 \centering
 \includegraphics[width=\textwidth]{images/seminarraum_drive-soft_data.pdf}
 \caption{Behavior with constant start/stop acceleration, carpet floor,
straight drive movements}
\end{figure}
\begin{figure}
 \centering
 \includegraphics[width=\textwidth]{images/seminarraum_turn-soft_data.pdf}
 \caption{Behavior with constant start/stop acceleration, carpet floor,
turn movements}
\end{figure}

The data shows mostly no difference to the original behavior from
Experiment~1. Apparently inertia and slippage do not influence the accuracy of
the movement.