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--- projects:ideas:armadillo_scout [2012/11/07 17:27]
claes [Crawler vibration Measurement]
+++ projects:ideas:armadillo_scout [2013/09/25 11:50]
claes
@@ Line 5: / Line 5: @@
 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  1-1,5 cm before the belt starts moving.
-This phenomenon needs to be modeled in the software, to take the hysteresis in to account.
+===== Modeling Odometri for tracked autonomous vehicles =====
+==== 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, so the changes can be account for in the control software.
+==== 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.
+===== 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 =====

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