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46574Re: Accurate odometry

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  • dpa_io
    Jan 15, 2012
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      Part of it is the errors canceling out, as you observe. But mostly it is because the errors in distance traveled are just not very significant, down in the noise of the robot's performance. That's the source of the +/- 5 feet error in a 1000 foot run for jBot. For a cartoon description of why that is, check out:


      and Borenstein has a more rigorous description of all this in one of the appendices of the UMBMark paper.


      --- In SeattleRobotics@yahoogroups.com, Xandon Frogget <xandon@...> wrote:
      > On Jan 15, 2012, at 4:01 PM, dpa_io wrote:
      > > he error in distance traveled is not very significant, but the error
      > > in heading throws everything else off.
      > Is that because the recovery and unstick routines balance out to zero
      > distance by moving forward and then back the same amount, or spinning
      > in position? So any distance error would generally only be accumulated
      > from drift or lack of actual movement over the ground between the time
      > it gets stuck and realizes it, and/or distance traveled in a recovery
      > behavior that was not balanced by movement in the opposite direction
      > of the same recovery movement?
      > -Xandon
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