Differences

This shows you the differences between two versions of the page.

--- robots:armadillo:calibration:welcome [2012/10/11 12:50]
karina
+++ robots:armadillo:calibration:welcome [2021/08/14 04:21] (current)
@@ Line 4: / Line 4: @@
 It is assumed that the turningpoint for the belts is the center of the belts.
-  c<sub>l</sub> = 0.00348377
+  cl = 0.00348377
-  $c_r$ = 0.003193242
+  cr = 0.003193242
   w = 1.68336
 {{:robots:armadillo:calibration:clockwise_graph.png?350|}}
 {{:robots:armadillo:calibration:counterclockwise_graph.png?350|}}
-==== UMB-mark test ====
+===== UMB-mark test =====
+{{:robots:armadillo:calibration:calibration_umb.xlsx|UMB test}} (168 KB) Data and calculation showed in this page
+Where am I? Sensors and Methods for Mobile Robot Positioning: \\
+{{:robots:armadillo:calibration:pos96rep.pdf|Download book from University of Michigan}} (12.2 MB)\\
+Chapter 5 is used as the base for these calculation. The two following articles describe the process in greater detail.
+Measurement and Correction of Systematic, Odometry Errors in Mobile Robots:\\
+{{:robots:armadillo:calibration:paper58.pdf|Download Paper 58}} (803 KB)
+Correction of Systematic Odometry Errors in Mobile Robots:\\
+{{:robots:armadillo:calibration:paper59.pdf|Download Paper 59}} (177 KB)
-{{:robots:armadillo:calibration:calibration_umb.xlsx|UMB}} (168 KB)
 === BEFORE CALIBRATION ===
@@ Line 59: / Line 71: @@
 $$ \beta = \frac{x_{c.g.,cw}-x_{c.g.,ccw}}{-4L}\cdot \frac{(180^{\circ})}{\pi} $$
-|β = |-235.7484076 cm|
+|β = |-235.7484 cm|
 |    |-2.357 m |
@@ Line 68: / Line 80: @@
 $$E_d = \frac{D_R}{D_L} = \frac{R+b/2}{R-b/2} $$
 |b = |1.524 m|
-|$E_d$ =|0.9692 |
+|$E_d$ =|0.969 |
 $$b_{actual} = \frac{90^{\circ}}{90^{\circ}-\alpha}\cdot b_{nominal} $$
-|$b_{actual}$ =|1.68336|calibrated value of wheelbase|
+|$b_{actual}$ =|1.6834|calibrated value of wheelbase|
 | ::: |1.524|before calibration|

Technology in Crop Production

User Tools

Site Tools

Differences

Page Tools