-\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
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
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
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
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
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
for these tests was 1~degree.
After the initial setup, the application \cmd{roomba\_tests} (see
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
Figure~\ref{fig:orig:lam:drive} shows that the error becomes greater
with increasing input distance when driving straight on 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
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