\chapter{Experiment 1: Original Movement Behaviour}
-
+\label{sec:exp1}
In the first experiment, the Roomba's original movement behaviour is
measured to get an overview of the errors that occur while moving, and to
establish a pool of data for correction approaches to work on later.
implementation-specific values.
For the straight drive tests, the arrays with predefined values were:\\
-\begin{tabular}[h!]{ll}
- Distances: & 20, 50, 100, 200, 500, 1000, 2000, and 4000~mm \\
- Velocities: & 20, 50, 70, 100, 150, 200, 300, and 400~mm/s \\
+\begin{tabular}{@{}ll@{}}
+Distances: & 20, 50, 100, 200, 500, 1000, 2000, and 4000~mm \\
+Velocities: & 20, 50, 70, 100, 150, 200, 300, and 400~mm/s
\end{tabular}
-For the turn tests, the arrays with predefined values were:\\
-\begin{tabular}[h!]{ll}
- Turn angles: & 5, 15, 30, 45, 90, 120, 180, 360, 530, and 720~degree \\
- Velocities: & 20, 50, 70, 100, 150, 200, 300, and 400~mm/s \\
+For the turn tests, the arrays with predefined values were: \\
+\begin{tabular}{@{}ll@{}}
+Turn angles: & 5, 15, 30, 45, 90, 120, 180, 360, 530, and 720~degree \\
+Velocities: & 20, 50, 70, 100, 150, 200, 300, and 400~mm/s
\end{tabular}
-According to the implementation of the Wiselib Roomba control,
-the velocities were given in mm/sec and referred to the distance the wheels
-travelled when the Roomba turned on the spot, which was a circle of 230~mm in
-diameter.
+According to the implementation of the Wiselib Roomba control, the velocities
+were given in mm/sec and referred to the distance the wheels travelled when the
+Roomba turned on the spot, which was a circle of 230~mm in diameter.
\section{Results}
\label{exp1:results}
arithmetic mean\index{arithmetic mean} of all results for a data point.
\todo{clearpage, cleardoublepage?}
-%\clearpage
\begin{figure}[p!]
\centering
\includegraphics[width=\textwidth]{images/iz250flur_drive_data.pdf}
\label{fig:orig:carpet:turn}}
\end{figure}
-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
-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
-both, adding up over the time the movement continues. Also slippage of the
-wheels on the laminated floor could be possible, as well as slowdown through
-the carpet floor, explaining why the error increases on the laminated floor, but
-decreases into negative values on the carpet floor when the distance grows.
+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 Figure~\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 both, adding up over the time the
+movement continues. Also slippage of the wheels on the laminated floor could be
+possible, as well as slowdown through the carpet floor, explaining why the error
+increases on the laminated floor, but decreases into negative values on the
+carpet floor when the distance grows.
On the other hand, rising the velocity always seems to cause the
error to increase.
resulting from false assumptions about the Roomba's wheelbase\index{wheelbase}
diameter, resulting in false calculations of the circle the Roomba's wheels
describe while turning, and therefore leading to false results.
-
-\todo{statistical values, stddev?}
projects / bachelor-thesis / written-stuff.git / blobdiff