Subject:
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Re: odometry (was Re: Homing with the IR Tower)
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Newsgroups:
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lugnet.robotics
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Date:
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Wed, 28 Jul 1999 12:31:40 GMT
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Original-From:
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Ralph M. Deal <deal@AVOIDSPAMkzoo.edu>
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Viewed:
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1007 times
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On Wed, 28 Jul 1999, Laurentino Martins wrote:
> At 09:20 28-07-1999 Wednesday , Mario Ferrari wrote:
> [snip]
> > Yes, 95 ticks are always 95 ticks, but the point is if your robot really *is*
> > in the position where it's expected to be on the floor. The main problem with
> > odometry, as you know well, is that errors accumulate very fast. The
> > unavoidable slippage of the tracks makes the things worse. From what I read so
> > far about detecting a robot position, tracks are the worst choice. See, for
> > example, the great "Where am I? Sensors and methods for Mobile Robot
> > Positioning" by J.Borenstein (freely available on the net but can't remember
> > where).
>
>
> I've downloaded, printed and read it all some time ago :-)
Great source. Just found a source where Johann Borenstein discusses the
original 1966 paper and gives links for the full electronic version or a
CDROM or a book version. Here is the source:
http://www-personal.engin.umich.edu/~johannb/position.htm
Thanks for the pointer! Ralph M. Deal deal@kzoo.edu
--
Did you check the web site first?: http://www.crynwr.com/lego-robotics
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Message is in Reply To:
 | | Re: odometry (was Re: Homing with the IR Tower)
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| At 09:20 28-07-1999 Wednesday , Mario Ferrari wrote: [snip] (...) I've downloaded, printed and read it all some time ago :-) (...) I've used 2 wheels instead of tracks once, and the results where terrible compared with tracks. The problem was that (...) (25 years ago, 28-Jul-99, to lugnet.robotics)
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