"Luxi Huang, MSR, ME495 HW2"
This README answered questions on Homework2
| Fv | Av | ET | EY | Ex | OT(rad) | OX(cm) | OY(cm) | FT(degree) | FX(cm) | FY(cm) | GT(degree) | GX(cm) | GY(cm) | DT(degree/distance) | DX(cm/distance) | DY(cm/distance) | |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| cw | 1 | -2.84 | 0 | 0 | 0 | 1.1826522 | -0.66507 | -0.171022 | -0.328272 | 0 | 0 | 2.443460953 | -1.1 | -1.8 | -0.06304043764 | 0.0217465 | 0.0814489 |
| cw | 0.8 | -2.765486 | 0 | 0 | 0 | 3.1297071 | -0.128703 | -0.370157 | 0.317733 | 0 | 0 | 3.054326191 | -0.2 | -0.1 | 0.00376904545 | 0.00356485 | -0.01350785 |
| ccw | 1 | 2.84 | 0 | 0 | 0 | -3.1434385 | 0.0382658 | -0.0580493 | -1.3592756 | 0 | 0 | 2.094395102 | -0.3 | -0.5 | -0.2618916801 | 0.01691329 | 0.022097535 |
| ccw | 0.8 | 2.765486 | 0 | 0 | 0 | -2.1496343 | 0.2342 | -0.2589 | -0.2994052 | 0 | 0 | -2.967059728 | 0.8 | 0.5 | 0.04087127142 | -0.02829 | -0.037945 |
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Encorders improve the odometry over estimating the pose based on the inputs
- since the feedforward doesn't including sensor values, therefore the feedforward model didn't consider factors such as friction.
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On the clockwise direction, moving slower improve the odometry, but in the counterclockwise direction, moving slower didn't improve much on odometry.
| Fv | Av | ET | EY | Ex | OT(rad) | OX(cm) | OY(cm) | FT(degree) | FX(cm) | FY(cm) | GT(degree) | GX(cm) | GY(cm) | DT(degree/distance) | DX(cm/distance) | DY(cm/distance) | |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| FWD | 0.8 | 0.176 | 0 | 2 | 0 | 0.5416186 | 320.05 | 149.584 | 0 | 199.979 | 0 | 0.0174533 | 197.7 | 34 | 0.026208265 | 6.1175 | 5.7792 |
| FWD | 1 | 0.22 | 0 | 2 | 0 | 0.0840265 | 162.33 | -4.1058 | 0 | 200 | 0 | 0.1396263402 | 153.8 | 12 | -0.002779992008 | 0.4265 | -0.80529 |
| BWD | 0.8 | 0.176 | 0 | 2 | 0 | 0.3235244 | -176.93 | 5.8431 | 0 | -200 | 0 | 0.06981317008 | -167.3 | 13 | 0.0126855615 | -0.4815 | -0.357845 |
| BWD | 1 | 0.22 | 0 | 2 | 0 | 0.1159729 | -185.89 | 9.9191 | 0 | -200.04 | 0 | 0.1047197551 | -180.5 | 28 | 0.000562657244 | -0.2695 | -0.904045 |
- slower speed didn't improve the odometry.