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Originally Posted by Chriszuma
I would advise against using the accelerometer for computing distance. You have to double-integrate it, which will greatly amplify any inaccuracies of the data. You're better off using the gear tooth sensors, since you can hook them up to your drive train and get a direct computation of distance.
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The only problem with that is that you don't get a direct computation of traveled distance, you get a direct computation of wheel distance. If the wheels slip, which they're likely to do if you're driving at a high speed, the distance recorded by the gear tooth sensor could be wildly off. The accelerometer allows you to measure motion of the robot relative to the ground instead of the robot's wheels relative to the robot's body.
--Quentin