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projects:ideas:armadillo_scout [2013/09/25 11:50] claes |
projects:ideas:armadillo_scout [2013/09/25 13:39] claes [Modeling Odometri for tracked autonomous vehicles] |
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===== Modeling Odometri for tracked autonomous vehicles ===== | ===== Modeling Odometri for tracked autonomous vehicles ===== | ||
+ | [[http:// | ||
==== Short Description ==== | ==== 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, | 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 ==== | ==== Assignments ==== | ||
The physical phenomenon that needs to be investigated and modelled are: | 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. | + | * 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. | + | * 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 ===== |