Open ksuhartono97 opened 8 years ago
iwasaki-kenta
commented
8 years ago Positioning system shifts as a result of error accumulating due to the gyroscope not being shifted in terms of position properly towards the center of the encoders. Given that the positioning system right now is based off Dead Reckoning, long-ranged positions will fail unless a control system (EKF) is implemented, or if a better method of integration for velocity -> position in the gyro is done.
iwasaki-kenta
commented
8 years ago Some development for next year:
Based on the EMF of the motors alongside the gyro data you can ditch the encoders and actually gain a much better tracked position. See Problem #5: http://ocw.mit.edu/courses/electrical-engineering-and-computer-science/6-186-mobile-autonomous-systems-laboratory-january-iap-2005/study-materials/odomtutorial.pdf
arvind-iyer
commented
8 years ago This is pretty interesting. Let's keep these open to work on after the competition
On 20-Jun-2016 11:27 AM, Dranithix notifications@github.com wrote:
Some development for next year:
Based on the EMF of the motors alongside the gyro data you can ditch the encoders and actually gain a much better tracked position. See Problem #5https://github.com/arvind-iyer/robocon-2016/issues/5: http://ocw.mit.edu/courses/electrical-engineering-and-computer-science/6-186-mobile-autonomous-systems-laboratory-january-iap-2005/study-materials/odomtutorial.pdf
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The positioning system shifts strangely,
Pinpoint problem, encoders, gyro, or software. How to :
Attempt to develop fix for the positioning system