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 I expect you to make mistakes and need help constantly. Just be sure each time you come to me, it's a new mistake and a different kind of help you need. This way I know you're growing. - Rich Kressly [more] |
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#6
17-01-2006, 10:54
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Re: Omni-drive autonomous questions
We built a 4-wheel omni two years ago. We placed a small pair of free-wheeling omni-wheels (~2" dia) underneath the center of the chassis pan, and oriented them at 90deg. Each omni had a Grayhill optical encoder. This gave us local x and y movement of the chassis. Using an additional Analog Devices yaw rate sensor and integrating the yaw rate for yaw angle, we had the info we needed for field position. Any binding or slippage in the wheels, of course, led to error, but it worked OK for us.
Good Luck! Eric |
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