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projects:ideas:armadillo_scout [2012/11/07 17:16] claes [Crawler vibration Measurement] |
projects:ideas:armadillo_scout [2013/09/25 13:39] claes [Modeling Odometri for tracked autonomous vehicles] |
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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. | ||
- | ===== Software ===== | ||
- | ==== Model the hysteresis of the drive wheel ==== | ||
- | There is a small gap in the belt, between the teeth of the drive wheel and the belt. So the teeth can move approximately | ||
- | This phenomenon needs to be modeled | + | ===== 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 | ||
+ | * 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 ===== | ||
- | ==== Odometri for beltdrive vehicles ==== | ||
- | * dynamic distance change during driving | ||
- | * difference in tick between backwards and forwards driving | ||
- | * define kinematic model that somehow includes slip. -> maybe based on slip observer from france. | ||
- | * model hysterese in the belt to optimise position estimation | ||
- | * | ||
===== Mechanical ===== | ===== Mechanical ===== | ||
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Muneshi Mitsuoka fra Kyushu Universitet har skrevet PhD om vibrationer i baeltekoeretoejer. Han har ogsaa lavet noget software der kan simulere et design af baeltemodulerne. Jeg har uploadet praesentationen jeg har faaet af han [[http:// | Muneshi Mitsuoka fra Kyushu Universitet har skrevet PhD om vibrationer i baeltekoeretoejer. Han har ogsaa lavet noget software der kan simulere et design af baeltemodulerne. Jeg har uploadet praesentationen jeg har faaet af han [[http:// | ||
Her er link til deres artikler: | Her er link til deres artikler: | ||
+ | === Observations so far === | ||
+ | *Kraftoverfoersel fra drivhjul til baelte: Hvis drivhjulet placeres nede i bageste hjoerne af baeltet, vil drivhjulet traekke i baeltet der ligger paa jorden mens det er belastet af hele robottens vaegt. Det burde goere baeltemodulet mere effektivt ved fremadkoersel., | ||
+ | *Baelte med stort drivhjul - Se ogsaa Armadillo 3 arbejdsdokument.\\ Det giver min 3 taender i baeltet hele tiden | ||
+ | *De 3 skiver/hjul i hvert modul der baere vaegten bevaeger sig op og ned hver gang de koerer hen over en af metal delene i baeltet og hullerne i mellem dem. Jo hurtigere man koere jo mindre er problemet, men ikke desto mindre er det med til at lave vibretioner i rammen. | ||
+ | *Vi har snakket med Prof. Meier fra TU Berlin. Han mete at vibrationerne kunne opstaa af flere grunde. | ||
+ | *Polygon effekt; jo stoerre drivhjulet er jo bedre. Det skal have et ulige antal taender, og det skal vaere 17 eller derover for at mindske effekten. | ||
+ | *Hvis huset er monteret paa daempere kan det skabe vibrationerne, | ||
+ | *Vibrationerne kan stamme fra alle tandhjul, og det kan vaere meget svaert at fidne ud af praecis hvor de opstaar henne. | ||
+ | *Observationer efter feltforsoeg: | ||
+ | |||