Re: Tracked mobile robot dead-reckoning

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2 total messages Started by Henrik Bohre Tue, 26 Jan 1993 11:25

#1876

Author: Henrik Bohre
Date: Tue, 26 Jan 1993 11:25

35 lines
1751 bytes

feng@srvr1 (Liqiang Feng, ) writes:

>I am working on the navigation problem for a tracked vehicle. The dead-reckonin
g 
>based on drive motor encoders does not work really well because of the slippage
 and 
>skid when the robot turns. I do not have much experience working with tracked v
ehicles. 
>Are there any good solutions to this problem? Have anyone used those absolute 
>velocity sensor or accelerometers to measure the absolute motion of the vehicle

>directly? Any good or bad experience with them? Has anyone used some cheap gyro
s, 
>such as those used in model planes, to measure the orientation of a robot? Any 
>experience or reference with them? Thanks a lot. 

>My E-mail address: feng@engin.umich.edu

>L. Feng

How is your mobile platform constituted?
o The turtle style - Two wheels with a motor each, steered by differentiating
the speed of the weels.
o The car style - One (or more) steerable wheels.
o Others?
o What kind of precision do you need (dm, inch, cm)?

I don't have any great solution to this problem, but I guess it's hard to get
high precision without any feedback from external sensors. I'd be interested
to know if you get some response from people who knows more about this.

Greetings Henrik

  @>-+--

Re: Tracked mobile robot dead-reckoning

#1913

Author: Jonny Yeargers
Date: Thu, 28 Jan 1993 19:01

4 lines
676 bytes

Possible silly hack: Why not drag / tow/ push something resembling a pc mouse? You could read
all slippage as movement in whatever direction and correct for it. Most mice get pretty gummed
up with particles but something along these lines but a bit more robust might work.
JonY@microsoft.com

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