Comment 1 for bug 669304
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| Steven Martin (steven-martin-qut) wrote | #1 |
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bbfa235
(Get the code!)
So I looked into this a bit more and it appears that the iCreate does not have any wheel encoders. Which explains a lot of what I am seeing. It just assumes that it is moving at the commanded speed which it is given. This however will vary with battery voltage and the surface which is it driving on. This is particularly bad for slow speed rotations.
Possible solutions.
- Combine commanded speed with laser scan matching (kalman filter) to produce better result for odometry (really this is what AMCL is meant to do)
- Develop a better model for the odometry taking into account the voltage, current draw and possibly online calibration from laser scanner.