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projects:ideas:armadillo_scout
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projects:ideas:armadillo_scout [2013/09/25 13:39] claes [Modeling Odometri for tracked autonomous vehicles] |
projects:ideas:armadillo_scout [2013/10/30 16:06] claes |
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| Detect birds on a field. Scare them away without harming the birds or the crops. | Detect birds on a field. Scare them away without harming the birds or the crops. | ||
| - | ===== Modeling Odometri for tracked autonomous vehicles ===== | ||
| - | [[http:// | ||
| - | ==== Short Description ==== | ||
| - | Odometri for a autonomous vehicle running on tracks are different from odometri on wheels. The the dynamic changes of a track need to be invesitgated, | ||
| - | ==== Assignments ==== | ||
| - | The physical phenomenon that needs to be investigated and modelled are: | ||
| - | * Dynamic distance change during driving. The circumference of the track is not constant. | ||
| - | * Difference in tick counted between backwards and forwards driving. Hysterisis caused by the teeth in the sprocket wheel, because they do not have a tight fit in the track. | ||
| - | * Define kinematic model that where slip is accounted for. Can be based on "Mixed Kinematic and Dynamic Sideslip Angle Observer for Accurate Control of Fast Off-Road Mobile Robots" | ||
| ===== Software ===== | ===== Software ===== | ||
projects/ideas/armadillo_scout.txt · Last modified: 2021/08/14 04:21 (external edit)
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