\caption{Measuring turn angles with laser pointer\label{fig:laserpointer}}
\end{figure}
-The test equipment consisted of a small Intel Atom \index{netbook} which was
+The test equipment consisted of a small x86 \index{netbook} which was
mounted on
-an iRobot Roomba~500\index{Roomba~500} robot. The netbook controlled the Roomba
+an iRobot Roomba~500\index{Roomba} robot. The netbook controlled the Roomba
over a
-\acs{USB}-to-serial converter plugged into the Open Interface \index{Open
-Interface|see {iRobot Roomba Open Interface}} port on the
+\acs{USB}-to-serial converter plugged into the Open Interface \index{iRobot
+Roomba Open Interface} port on the
Roomba, and hosted as the environment for executing the Wiselib \index{Wiselib}
-code (see fig.~\ref{fig:roombasetup}).
+code (see Fig.~\ref{fig:roombasetup}).
In the first experiment, the original movement behaviour of the Roomba was
measured to establish a pool of data for correction approaches to work on.
There was no error correction involved, and the Roomba started right off with
the full velocity the movement was executed with; so there was no control to
adhere a constant acceleration when starting or stopping the movement. Due to
-limitations in the iRobot Roomba Open Interface\index{Open Interface} it is only
+limitations in the iRobot Roomba Open Interface\index{iRobot Roomba Open
+Interface} it is only
possible to explicitly start and stop the Roomba's movements at different times,
so the Wiselib's implementation of the Roomba control code first starts the
Roomba's movement, calculates the time needed until the movement should be
in the center to let the Roomba's wheels touch the floor. The sheet was fixed
on the floor, and the Roomba was aligned in the center of the paper. A laser
pointer\index{laser pointer} attached to the Roomba pointed to the current
-orientation on the paper, as shown in fig.~\ref{fig:laserpointer}. The accuracy
+orientation on the paper, as shown in Fig.~\ref{fig:laserpointer}. The accuracy
for these tests was 1~degree.
After the initial setup, the application \cmd{roomba\_tests} (see
Figure~\ref{fig:orig:lam:drive} shows that the error becomes greater
with increasing input distance when driving straight on the
-laminated floor, however, in fig.~\ref{fig:orig:carpet:drive} we see the
+laminated floor, however, in Fig.~\ref{fig:orig:carpet:drive} we see the
opposite effect on the carpet floor, the error decreases with greater input
distance. This could happen due to imprecise measurement of distances in either
the Roomba's sensors or the Wiselib implementation that controls the Roomba, or
projects / bachelor-thesis / written-stuff.git / blobdiff