From e1b31bbb160bcdaeef79f2c60f2b69d173876ff1 Mon Sep 17 00:00:00 2001 From: Roland Hieber Date: Sat, 30 Jul 2011 12:17:28 +0200 Subject: [PATCH] checkpoint --- Ausarbeitung/acronyms.tex | 2 +- Ausarbeitung/conclusion.tex | 26 ++++- Ausarbeitung/experiment1.tex | 64 ++++++----- Ausarbeitung/experiment2.tex | 50 ++++++--- Ausarbeitung/experiment3.tex | 36 ++++--- Ausarbeitung/images/iz250flur_turn_data.pdf | Bin 61292 -> 61129 bytes .../images/seminarraum_turn-mean_data.pdf | Bin 0 -> 60717 bytes Ausarbeitung/implementation.tex | 37 ++++--- Ausarbeitung/introduction.tex | 79 ++++++++++++-- Ausarbeitung/main.tex | 4 +- Ausarbeitung/preliminaries.tex | 29 +---- Ausarbeitung/roomba.tex | 99 +++++++++--------- Ausarbeitung/wiselib.tex | 58 +++++----- 13 files changed, 302 insertions(+), 182 deletions(-) diff --git a/Ausarbeitung/acronyms.tex b/Ausarbeitung/acronyms.tex index a347905..73e25af 100644 --- a/Ausarbeitung/acronyms.tex +++ b/Ausarbeitung/acronyms.tex @@ -1,5 +1,5 @@ \chapter*{Table of Acronyms} -\begin{acronym}[opcode] +\begin{acronym}[CDROM] \acro{8N1}{8 data bits, no parity, 1 start/stop bit} \acro{CDROM}{Compact Disc Read Only Memory} \acro{DC}{Direct Current} diff --git a/Ausarbeitung/conclusion.tex b/Ausarbeitung/conclusion.tex index ef18d2e..c18181f 100644 --- a/Ausarbeitung/conclusion.tex +++ b/Ausarbeitung/conclusion.tex @@ -1,2 +1,24 @@ -\chapter{Conclusions} -\todo{. } +\chapter{Conclusion and Future Work} +The previous chapters have presented the original motion behavior of the +Roomba, besides two different approaches to improve dead reckoning. This goal +could be reached only in parts, for laminated floors using the mean correction +in Experiment~2. However, there is still many potential to work towards that +goal. + +The set of measured data in this work was relatively small to serve as a +good representation of the world. Only two types of floors were used, and a +fixed set of parameters for the movements. One possibility here is to widen the +data set, probably using not only fixed values but maybe also a stochastic +approach to determine the input values. Furthermore, only the target distance +resp. orientation, and the velocity were considered as factors to affect the +measured value. There are still much other factors to consider, for example the +voltage and capacity of the Roomba's internal battery. Also, the Roomba can +move not only in straight lines and turn on the spot, but also drive arcs. +Additionally, it is not sure how different robots or different Roomba +models behave when it comes to movement. + +As mentioned in Section~\ref{sec:exp2:results}, a quadratic regression could be +applied to the data, which results in a better fit function and a closer +approximation to the measured data. This may probably improve the mean +correction approach from Experiment~2, and also correct errors better when +driving on carpet floors. \ No newline at end of file diff --git a/Ausarbeitung/experiment1.tex b/Ausarbeitung/experiment1.tex index 8f14a64..a413eeb 100644 --- a/Ausarbeitung/experiment1.tex +++ b/Ausarbeitung/experiment1.tex @@ -1,6 +1,11 @@ -\chapter{Experiment 1: Original Movement Behaviour} +\chapter{Experiment 1: Original Movement Behavior} \label{sec:exp1} -In the first experiment, the Roomba's original movement behaviour is + +The concepts described in the previous chapter are now used to set up a test +series with the purpose to measure the error in the Roomba's movement and +to improve its accuracy. + +In the first experiment, the Roomba's original movement behavior was 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. There was no error correction involved (apart from any possible error @@ -21,32 +26,33 @@ is used to access the Roomba over the \ac{ROI}\index{Roomba Open Interface}. \caption{Measuring turn angles with laser pointer\label{fig:laserpointer}} \end{figure} -The test equipment consisted of a small x86 \index{netbook} netbook which was +The test equipment consisted of a small x86 netbook\index{netbook} which was mounted on an iRobot Roomba~530\index{Roomba} robot, as seen in Figure~\ref{fig:roombasetup}. The netbook controlled the Roomba over a \acs{USB}-to-serial converter plugged into the \ac{ROI}\index{Roomba Open Interface} port on the Roomba, and hosted as the environment for executing the Wiselib \index{Wiselib} code. -In this experiment, 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. As mentioned before, due to -limitations in the \ac{ROI}\index{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, keeps track of the turned angle and dcovered distance, and then stops -the Roomba if these values exceed the target values. +In this experiment, the Roomba started and stopped with the full velocity the +movement was executed with; so there was (ideally speaking) an infinite +acceleration and deceleration at the start and the end of the movement. As +mentioned before, due to limitations in the \ac{ROI}\index{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, keeps track of the turned angle +and covered distance, and then stops the Roomba if these values exceed the +target values. The tests were done in two atomic drive modes: letting the Roomba walk a specific straight distance with a specific velocity in its viewing direction and letting it turn on the spot with a specific velocity about a specific angle. Each of the two modes was carried out on two different floor types\index{floor -type}, a laminated floor and a carpet floor, to see if the movement behaviour +type}, a laminated floor and a carpet floor, to see if the movement behavior significantly depended on the floor type. The side brush was removed, since the Roomba tends to turn slightly towards the left when driving straight on a carpet floor. Without the side brush, this was not the case. -The actual travelled distance of the straight drive tests were determined using +The actual traveled distance of the straight drive tests were determined using a measuring tape with an accuracy of 1~mm. Only the distance in the Roomba's original viewing direction was considered, as it turned out that the offset perpendicular to the viewing direction and a possible shift in orientation were @@ -74,26 +80,26 @@ implementation-specific values. For the straight drive tests, the arrays with predefined values were:\\ \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 +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}{@{}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 +Turn angles: & \phantom{0}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 +were given in mm/s and referred to the distance the wheels traveled when the Roomba turned on the spot, which was a circle of 230~mm in diameter. \section{Results} \label{exp1:results} The following graphs show the difference from the measured value to the input value for driving or turning with different velocities. Positive values mean -that the Roomba had turned too much or travelled more than the target value, -negative values mean that the Roomba had turned or travelled too less. The +that the Roomba had turned too much or traveled more than the target value, +negative values mean that the Roomba had turned or traveled less. The plots show multiple test runs; given are the minimum, the maximum and the arithmetic mean\index{arithmetic mean} of all results for a data point. @@ -101,25 +107,25 @@ arithmetic mean\index{arithmetic mean} of all results for a data point. \begin{figure}[p!] \centering \includegraphics[width=\textwidth]{images/iz250flur_drive_data.pdf} - \caption{Original behaviour on laminated floor, straight drive movements + \caption{Original behavior on laminated floor, straight drive movements \label{fig:orig:lam:drive}} \end{figure} \begin{figure}[p!] \centering \includegraphics[width=\textwidth]{images/iz250flur_turn_data.pdf} - \caption{Original behaviour on laminated floor, turn movements + \caption{Original behavior on laminated floor, turn movements \label{fig:orig:lam:turn}} \end{figure} \begin{figure}[p!] \centering \includegraphics[width=\textwidth]{images/seminarraum_drive_data.pdf} - \caption{Original behaviour on carpet floor, straight drive movements + \caption{Original behavior on carpet floor, straight drive movements \label{fig:orig:carpet:drive}} \end{figure} \begin{figure}[p!] \centering \includegraphics[width=\textwidth]{images/seminarraum_turn_data.pdf} - \caption{Original behaviour on carpet floor, turn movements + \caption{Original behavior on carpet floor, turn movements \label{fig:orig:carpet:turn}} \end{figure} @@ -135,9 +141,13 @@ 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. +error to increase. This illustrates the effect of accumulating errors which +represents the crucial drawback of dead reckoning\index{dead reckoning}. The same effects also apply for turn tests. Additionally, there could be errors -resulting from false assumptions about the Roomba's wheel base\index{wheel base} -diameter, resulting in false calculations of the circle the Roomba's wheels +resulting from false assumptions about the Roomba's wheel base\index{wheel +base}, resulting in bogus calculations of the circle the Roomba's wheels describe while turning, and therefore leading to false results. + +In the following, two approaches to correct errors and improve the accuracy of +the movement are presented. diff --git a/Ausarbeitung/experiment2.tex b/Ausarbeitung/experiment2.tex index 807b9f5..0851f70 100644 --- a/Ausarbeitung/experiment2.tex +++ b/Ausarbeitung/experiment2.tex @@ -1,4 +1,4 @@ -\chapter{Experiment 2: Movement Behaviour with Mean Correction} +\chapter{Experiment 2: Movement Behavior with Mean Correction} \todo{} \label{sec:exp2} @@ -6,9 +6,9 @@ As presumed in Section \ref{exp1:results}, errors in the Roomba's movements could originate from imprecise measurement of the Roomba's internal sensors or in the Wiselib implementation. So a natural approach to correct this sort of errors would be to average the results for each data point from Experiment 1, -find a function that fits the mean measured error depending of the -target velocity and target distance or angle as well as possible, and then -adapting either one of the target parameters so that the resulting movement +find a function that fits the mean measured error depending on the +target velocity and target distance or angle as well as possible, and then to +adapt either one of the target parameters so that the resulting movement would most likely be the desired target value. In this experiment however, only the target distance resp. the target angle was adjusted, while the velocity remained unadjusted. @@ -21,36 +21,52 @@ value (angle or distance) and velocity as input parameters. The fit function was then used in the algorithm to calculate the adapted target distance or angle. \section{Setup} -The hardware setup was exactly the same as in Experiment 1. However, in this -experiment the application \prog{mean\_correction\_test} was used to measure -data. It did exactly the same as the application from Experiment 1, except that -it adapted the target value according to the method described above. +The hardware setup was exactly the same as in Experiment~1. However, in this +experiment the application \prog{mean\_correction\_test} (described in +Section~\ref{sec:impl:mean} was used to measure data. \section{Results} +\label{sec:exp2:results} \begin{figure}[p!] \centering \includegraphics[width=\textwidth]{images/iz250flur_drive-mean_data.pdf} - \caption{Behaviour with mean correction on laminated floor, straight drive + \caption{Behavior with mean correction on laminated floor, straight drive movements} \end{figure} \begin{figure}[p!] \centering \includegraphics[width=\textwidth]{images/iz250flur_turn-mean_data.pdf} - \caption{Behaviour with mean correction on laminated floor, turn movements} + \caption{Behavior with mean correction on laminated floor, turn movements} \end{figure} \begin{figure}[p!] \centering \includegraphics[width=\textwidth]{images/seminarraum_drive-mean_data.pdf} - \caption{Behaviour with mean correction on carpet floor, straight drive + \caption{Behavior with mean correction on carpet floor, straight drive movements} \end{figure} \begin{figure}[p!] \centering - \includegraphics[width=\textwidth]{images/seminarraum_drive-mean_data.pdf} - \caption{Behaviour with mean correction on carpet floor, turn movements} + \includegraphics[width=\textwidth]{images/seminarraum_turn-mean_data.pdf} + \caption{Behavior with mean correction on carpet floor, turn movements} \end{figure} -results better than in experiment 1, very accurate for laminate floor, carpet -floor more spread but still kind of in the middle and less deviation from ideal -value. -\todo{!!!} \ No newline at end of file +For laminated floors, the results are actually better than in Experiment~1, +apart from a huge increase of the absolute error for small input values (50~cm, +5 and 20 degrees). As the error for this values is far into the negative +range, it means that the Roomba has even turned to or driven in the wrong +direction. The reason for that is most probably the fit function, which is below +zero for these target values. Apart from that, higher target values or +velocities correlate with a higher (absolute) error, just as already mentioned +for the original behavior, which is caused by accumulating errors. However, +when it comes to different velocities, the error is not as far distributed as it +is for the original behavior. This makes the behavior of the Roomba more +predictable over different velocities. Apparently, mean correction +significantly improves the accuracy of the Roomba's general movement in this +case. + +For carpet floors, the data shows not much difference to the original +behavior, apart from the already mentioned large absolute error for small +target values. Due to the steep drop of the error for large target values, it +could maybe help to apply a quadratic regression for the determination of a fit +function, in order to better represent the measured data. However, this is a +matter for more detailed research and is not covered in this thesis. diff --git a/Ausarbeitung/experiment3.tex b/Ausarbeitung/experiment3.tex index 9855b54..bedcb0e 100644 --- a/Ausarbeitung/experiment3.tex +++ b/Ausarbeitung/experiment3.tex @@ -1,45 +1,47 @@ -\chapter{Experiment 3: Movement Behaviour with Constant Start/Stop +\chapter{Experiment 3: Movement Behavior with Constant Start/Stop Acceleration} \label{sec:exp3} -\todo{} -\section{Setup} -algorithm: slowly accelerate at start over a time of 1 second, decelerate at -stop. no mean correction. - -approach: correct slippage on the floor +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. -setup same as in experiment 1 and 2, application on netbook was -\prog{soft\_start\_test}. +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. -expectations \& were they fulfilled? +\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{Behaviour with constant start/stop acceleration, laminated floor, + \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{Behaviour with constant start/stop acceleration, laminated floor, + \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{Behaviour with constant start/stop acceleration, carpet floor, + \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{Behaviour with constant start/stop acceleration, carpet floor, + \caption{Behavior with constant start/stop acceleration, carpet floor, turn movements} \end{figure} -same or even worse deviation as in original behaviour... - -\todo{statistical values, stddev?} +The data shows mostly no difference to the original behavior from +Experiment~1. 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