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Around an Obstacle Odometry Tests Results |
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Brick-Bazooka |
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Total X Distance = 5m Y Distance = 0m TH Distance = 0m |
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Left Around Obstacle |
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Odometry X (mm) |
Odometry Y (mm) |
Odometry Theta (rad) |
X Error (mm) |
Y Error (mm) |
TH Error (rad) |
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Trial 1 |
5010.1802 |
109.1260 |
0.053690 |
10.1802 |
109.1260 |
0.053690 |
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Trial 2 |
5010.1802 |
85.3005 |
0.036816 |
10.1802 |
85.3005 |
0.036816 |
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Trial 3 |
5009.3506 |
87.0975 |
0.026078 |
9.3506 |
87.0975 |
0.026078 |
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Trial 4 |
5008.5210 |
88.7565 |
0.032214 |
8.5210 |
88.7565 |
0.032214 |
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Trial 5 |
5007.6914 |
95.2545 |
0.027612 |
7.6914 |
95.2545 |
0.027612 |
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Trial 6 |
5009.3506 |
66.3600 |
0.013806 |
9.3506 |
66.3600 |
0.013806 |
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Trial 7 |
5006.8618 |
88.2680 |
0.004602 |
6.8618 |
88.2680 |
0.004602 |
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Trial 8 |
5002.7144 |
57.2355 |
0.027612 |
2.7144 |
57.2355 |
0.027612 |
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Right Around Obstacle |
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Odometry X |
Odometry Y |
Odometry Theta |
X Error (mm) |
Y Error (mm) |
TH Error (rad) |
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Trial 1 |
4993.5898 |
50.5995 |
0.016874 |
-6.4102 |
50.5995 |
0.016874 |
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Trial 2 |
4991.9312 |
58.0650 |
0.013806 |
-8.0689 |
58.0650 |
0.013806 |
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Trial 3 |
4998.5669 |
83.7795 |
0.032214 |
-1.4331 |
83.7795 |
0.032214 |
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Trial 4 |
4989.4424 |
165.0705 |
0.038350 |
-10.5576 |
165.0705 |
0.038350 |
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Trial 5 |
4999.3965 |
87.9270 |
0.029612 |
-0.6035 |
87.9270 |
0.029612 |
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Trial 6 |
4996.9082 |
103.6875 |
0.027612 |
-3.0918 |
103.6875 |
0.027612 |
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Trial 7 |
5005.2031 |
52.2585 |
0.018408 |
5.2031 |
52.2585 |
0.018408 |
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Trial 8 |
5001.8848 |
112.8120 |
0.036816 |
1.8848 |
112.81120 |
0.036816 |
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Mean Theta Error (Left) : |
0.0278038 |
Mean Theta Error (Right) : |
0.0267115 |
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STDEV Theta Error (Left): |
0.01467787 |
STDEV Theta Error (Right): |
0.009329932 |
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* Above results in degrees: |
Mean Left Error = 1.59 deg |
Mean Right Error = 1.53 deg |
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StDev Left Error = 0.841 deg |
StDev Right Error = 0.535 deg |
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| * The above experiments were performed based on a network of measured markers assuring the robot's heading to be consistent. The experiments below were performed using a laser pointer to orient heading. Also, positive theta error means a slight left turn in heading and a negative theta error indicates a slight right turn. | |||||||||||
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Left Around Obstacle - Laser Orientation |
Right Around Obstacle - Laser Orientation |
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Odometry Theta (rad) |
Error (rad) |
Odometry Theta (rad) |
Error (rad) |
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Trial 1 |
6.261788 |
-0.021402 |
6.260254 |
-0.022936 |
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Trial 2 |
6.260678 |
-0.022512 |
0.018272 |
0.018272 |
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Trial 3 |
6.257609 |
-0.025581 |
0.034587 |
0.034587 |
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Trial 4 |
0.035569 |
0.035569 |
6.258745 |
-0.024445 |
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Trial 5 |
0.026879 |
0.026879 |
0.020453 |
0.020453 |
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Trial 6 |
6.256709 |
-0.026481 |
0.041418 |
0.041418 |
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Trial 7 |
6.234592 |
-0.048598 |
0.037812 |
0.037812 |
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Trial 8 |
0.021549 |
0.021549 |
6.269456 |
-0.013734 |
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Mean Theta Error (Left): |
-0.0075721 |
Mean Theta Error (Right): |
0.011428375 |
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STDEV Theta Error (Left): |
0.03088118 |
STDEV Theta Error (Right): |
0.027674198 |
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* Above results in degrees: |
Mean Left Error = -0.439 deg |
Mean Right Error = 0.655 deg |
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StDev Left Error = 1.77 deg |
StDev Right Error = 1.59 deg |
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