Quote:
Originally Posted by yash101
I don't see why we use gyros and accelerometers! Just have two free-wheeling castors with two encoders (one speed, the other rotation) on each. That should report where you are, even if you are pushed around!
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First-these wheels can slip and skid on stuff like the key/bump in 2012.
Second-two wheels each with two encoders on them weighs more than a pcb
Third-it's way easier to find the current heading of the robot using acceleromters and gyros. The math to figure out what the robot is doing is actually pretty tough. It can be very difficult to determine rotation of the robot vs. the robot traveling sideways.