Our rover is very fast. If we could just move it consistently in a straight line, we could easily win the Rovelympics drag race. Unfortunately this is not as trivial as it sounds, since our motors are never identical in strength. We need a way to automatically course-correct the rover so it continues to drive in a straight line.
We shouldn't use the navigation stack for this task -- it has an annoying habit of stopping and spinning instead of correcting movement gracefully. It might be enough to use wheel odometry, or if we know what the lane dividers look like beforehand we could use computer vision. It would also be nice to still have some steering control, so we can manually correct if the rover starts to drift out of the track.
mdepp
commented
3 years ago
Our rover is very fast. If we could just move it consistently in a straight line, we could easily win the Rovelympics drag race. Unfortunately this is not as trivial as it sounds, since our motors are never identical in strength. We need a way to automatically course-correct the rover so it continues to drive in a straight line.
We shouldn't use the navigation stack for this task -- it has an annoying habit of stopping and spinning instead of correcting movement gracefully. It might be enough to use wheel odometry, or if we know what the lane dividers look like beforehand we could use computer vision. It would also be nice to still have some steering control, so we can manually correct if the rover starts to drift out of the track.