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Originally Posted by SteveO
Our idea is similar to what the StangPS does, we just can't come up with a very accurate way to keep track of our displacement. Optical sensors would work, but were trying to do something simpler due to our lack of team members and resources. We'll probably wind up using an idler with positive only motion attached to an encoder/hall effect sensor to help (but not eliminate) wheel slippage inaccuracies; using the gyro and displacement*cos or sin(gyro).
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If you don't hit things and you don't "peel rubber" on purpose, dead reckening is every accurrate and repeatable.
Jim Zondag from the Killer Bees (team #33) swears by his routine with keeps track of robot position, velocity and acelleration in both robot coordinates and absolute coordinates.
I have been begging him to do a seminar at Atlanta on the topic.
Anybody who knows him, please help beg for me.
Joe J.