Around an Obstacle Odometry Tests Results

Brick-Bazooka

Total X Distance = 5m Y Distance = 0m TH Distance = 0m

Left Around Obstacle

Odometry X (mm)

Odometry Y (mm)

Odometry Theta (rad)

X Error (mm)

Y Error (mm)

TH Error (rad)

Trial 1

5010.1802

109.1260

0.053690

10.1802

109.1260

0.053690

Trial 2

5010.1802

85.3005

0.036816

10.1802

85.3005

0.036816

Trial 3

5009.3506

87.0975

0.026078

9.3506

87.0975

0.026078

Trial 4

5008.5210

88.7565

0.032214

8.5210

88.7565

0.032214

Trial 5

5007.6914

95.2545

0.027612

7.6914

95.2545

0.027612

Trial 6

5009.3506

66.3600

0.013806

9.3506

66.3600

0.013806

Trial 7

5006.8618

88.2680

0.004602

6.8618

88.2680

0.004602

Trial 8

5002.7144

57.2355

0.027612

2.7144

57.2355

0.027612

Right Around Obstacle

Odometry X

Odometry Y

Odometry Theta

X Error (mm)

Y Error (mm)

TH Error (rad)

Trial 1

4993.5898

50.5995

0.016874

-6.4102

50.5995

0.016874

Trial 2

4991.9312

58.0650

0.013806

-8.0689

58.0650

0.013806

Trial 3

4998.5669

83.7795

0.032214

-1.4331

83.7795

0.032214

Trial 4

4989.4424

165.0705

0.038350

-10.5576

165.0705

0.038350

Trial 5

4999.3965

87.9270

0.029612

-0.6035

87.9270

0.029612

Trial 6

4996.9082

103.6875

0.027612

-3.0918

103.6875

0.027612

Trial 7

5005.2031

52.2585

0.018408

5.2031

52.2585

0.018408

Trial 8

5001.8848

112.8120

0.036816

1.8848

112.81120

0.036816

Mean Theta Error (Left) :

0.0278038

Mean Theta Error (Right) :

0.0267115

STDEV Theta Error (Left):

0.01467787

STDEV Theta Error (Right):

0.009329932

*    Above results in degrees:

Mean Left Error = 1.59 deg

Mean Right Error = 1.53 deg

StDev Left Error = 0.841 deg

StDev Right Error = 0.535 deg

* 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.

Left Around Obstacle - Laser Orientation

Right Around Obstacle - Laser Orientation

Odometry Theta (rad)

Error (rad)

Odometry Theta (rad)

Error (rad)

Trial 1

6.261788

-0.021402

6.260254

-0.022936

Trial 2

6.260678

-0.022512

0.018272

0.018272

Trial 3

6.257609

-0.025581

0.034587

0.034587

Trial 4

0.035569

0.035569

6.258745

-0.024445

Trial 5

0.026879

0.026879

0.020453

0.020453

Trial 6

6.256709

-0.026481

0.041418

0.041418

Trial 7

6.234592

-0.048598

0.037812

0.037812

Trial 8

0.021549

0.021549

6.269456

-0.013734

Mean Theta Error (Left):

-0.0075721

Mean Theta Error (Right):

0.011428375

STDEV Theta Error (Left):

0.03088118

STDEV Theta Error (Right):

0.027674198

*    Above results in degrees:

Mean Left Error = -0.439 deg

Mean Right Error = 0.655 deg

StDev Left Error = 1.77 deg

StDev Right Error = 1.59 deg

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