|
[DPRG] Borenstein's UMBMark
Subject: [DPRG] Borenstein's UMBMark
From: dpa
dpa at io.isem.smu.edu
Date: Tue May 20 15:49:31 CDT 2008
Howdy,
Randy writes:
> > Randy, the Borenstein squares do not require precision 90
> > degree turns,
>
> Then it really isn't a square is it?
Nope.
> I rather wonder if Borenstein didn't mean "square" for his
> square.
No. It means navigating in four different directions. I think
he explains this pretty well in his paper on the UMBMark:
<http://www-personal.umich.edu/~johannb/Papers/umbmark.pdf>
but this will perhaps become more obvious when you run the
exercise yourself. It's a little hard to explain (obviously ;)
<...>
> So assuming our problem with counts is design endemic, meaning
> the tires we have, then doing a 90 degree turn must be done with
> gyro, compas, or IMU of sorts, because the current odometry
> fails here for us.
Or you might try different tires. jBot's are the "Road Rage"
after market tires:
<http://www3.towerhobbies.com/cgi-bin/wti0001p?&I=LXAGB9>
that gives jBot good enough odometry to run the 100 foot
square without compass or IMU, I bet they'd work pretty
well on the UNI robot as well if the tail wheel sideways
drag is not causing too much slippage.
best regards,
dpa
More information about the DPRG mailing list
|
