Straight Line Odometry Test Results - Brick Bazooka

Actual X Distance (m)

Actual Y Distance (m)

Odometry X Dist. (m)

Odometry Y Dist. (m)

X Error (m)

Y Error (m)

Absolute X Error (m)

Absolute Y Error (m)

Trial 1

0.4876

0.000

0.4761

-0.0017

-0.0115

0.0017

0.0115

0.0017

Trial 2

0.4876

0.000

0.4853

-0.0050

-0.0023

0.0050

0.0023

0.0050

Trial 3

0.4826

0.000

0.4836

-0.0017

0.0010

0.0017

0.0010

0.0017

Trial 4

0.4876

0.000

0.4761

-0.0033

-0.0115

0.0033

0.0115

0.0033

Trial 5

0.4851

0.000

0.4811

-0.0033

-0.0040

0.0033

0.0040

0.0033

Trial 6

0.4800

0.000

0.4778

-0.0017

-0.0022

0.0017

0.0022

0.0017

Trial 7

0.4763

0.000

0.4753

-0.0025

-0.0010

0.0025

0.0010

0.0025

Trial 8

0.4699

0.000

0.4720

-0.0041

0.0021

0.0041

0.0021

0.0041

Trial 1

1.213

1.225

0.012

0.012

Trial 2

1.212

1.221

0.009

0.009

Trial 3

1.229

1.226

-0.003

0.003

Trial 4

1.230

0.000

1.221

-0.0008

-0.009

0.001

0.009

0.0008

Trial 5

1.245

0.013

1.242

-0.0075

-0.003

0.021

0.003

0.0205

Trial 6

1.540

0.000

1.537

-0.0083

-0.003

0.008

0.003

0.0083

Trial 7

1.218

0.000

1.222

-0.0050

0.004

0.005

0.004

0.0050

Trial 8

1.219

0.000

1.219

-0.0050

0.000

0.005

0.000

0.0050

Trial 1

2.229

2.240

0.011

0.011

Trial 2

2.230

2.235

0.005

0.005

Trial 3

2.230

2.233

0.003

0.003

Trial 4

2.251

0.051

2.250

-0.010

-0.001

0.061

0.001

0.061

Trial 5

2.248

0.013

2.250

-0.007

0.002

0.020

0.002

0.020

Trial 6

2.521

0.000

2.530

-0.009

0.009

0.009

0.009

0.009

Trial 7

2.232

0.063

2.233

-0.012

0.001

0.075

0.001

0.075

Trial 8

2.233

0.025

2.234

-0.008

0.001

0.033

0.001

0.033

Trial 1

3.962

3.973

0.011

0.011

Trial 2

4.000

3.997

-0.003

0.003

Trial 3

3.949

3.971

0.022

0.022

Trial 4

3.961

0.064

3.971

0.002

0.010

0.062

0.010

0.062

Trial 5

4.019

0.086

4.024

-0.009

0.005

0.095

0.005

0.095

Trial 6

4.519

0.000

4.558

-0.003

0.039

0.003

0.039

0.003

Trial 7

3.959

0.089

3.972

-0.010

0.013

0.099

0.013

0.099

Trial 8

3.959

0.089

3.973

-0.017

0.014

0.106

0.014

0.106

Trial 1

7.330

0.259

7.354

-0.039

0.024

0.298

0.024

0.298

Trial 2

7.337

0.191

7.362

-0.018

0.025

0.209

0.025

0.209

Trial 3

7.292

0.114

7.320

0.011

0.028

0.103

0.028

0.103

Trial 4

7.337

0.127

7.358

0.003

0.021

0.124

0.021

0.124

Trial 5

7.323

0.108

7.341

-0.017

0.018

0.125

0.018

0.125

Trial 6

7.338

0.207

7.353

-0.022

0.015

0.229

0.015

0.229

Trial 7

7.249

0.135

7.279

0.002

0.030

0.133

0.030

0.133

Trial 8

7.282

0.368

7.265

-0.053

-0.017

0.421

0.017

0.421

Trial 1

10.457

10.485

0.028

0.028

Trial 2

10.140

10.483

0.343

0.343

Trial 3

10.502

10.522

0.020

0.020

Trial 4

10.554

0.356

10.556

0.017

0.002

0.339

0.002

0.339

Trial 5

10.521

0.775

10.559

-0.057

0.038

0.832

0.038

0.832

Trial 6

10.871

0.262

10.883

-0.025

0.012

0.287

0.012

0.287

Trial 7

10.387

0.257

10.408

-0.032

0.021

0.289

0.021

0.289

Trial 8

10.387

0.483

10.413

-0.018

0.026

0.501

0.026

0.501

Mean X Error (m)

SD X Error (m)

Mean Y Error (m)

SD Y Error (m)

Mean Absolute X Error (m)

Mean Absolute Y Error (m)

SD Absolute X Error (m)

SD Absolute Y Error (m)

0.5

-0.0037

0.0052

0.0029

0.0012

0.0045

0.0029

0.0045

0.0012

1

0.0010

0.0067

0.0080

0.0075

0.0054

0.0079

0.0041

0.0075

2

0.0040

0.0042

0.0400

0.0277

0.0041

0.0396

0.0039

0.0277

4

0.0140

0.0124

0.0730

0.0426

0.0146

0.0730

0.0114

0.0426

7

0.0180

0.0150

0.2050

0.1098

0.0223

0.2053

0.0054

0.1098

10

0.0613

0.1140

0.4483

0.2305

0.0613

0.4499

0.1138

0.2310

*  In the data above, a negative X error means the robot fell short of the target while a positive X means that it exceeded the target. A negative Y means the robot was to the right of 0 and a positive Y means the robot was left of 0.

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