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--- projects:ideas:armadillo_scout [2013/09/25 13:39]
claes [Modeling Odometri for tracked autonomous vehicles]
+++ projects:ideas:armadillo_scout [2021/08/14 04:21] (current)
@@ Line 2: / Line 2: @@
 [[projects:done_armadillo|Finished Armadillo Assignments]]
-===== Using the Armadillo Scout as a scarecrow =====
-Detect birds on a field. Scare them away without harming the birds or the crops.
-===== Modeling Odometri for tracked autonomous vehicles =====
-[[http://www.dtu.dk/Samarbejde/Virksomheder/Samarbejde-med-studerende/Projekt-og-praktikdatabasen/Vis-opslag?activityid=1222|Link to DTUBasen]]
-==== 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. Can be based on "Mixed Kinematic and Dynamic Sideslip Angle Observer for Accurate Control of Fast Off-Road Mobile Robots" by Lenain
 ===== Software =====

Technology in Crop Production