Diferencia entre revisiones de «Borja-videos»
De Grupo de Inteligencia Computacional (GIC)
Sin resumen de edición |
Sin resumen de edición |
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These are some examples of real life experiences on the hose transportation problem. Robot detection and control software is run on a PC. Red dots represent the references (where robots should be) and green dots the posture given by the camera (where they are). Commands are sent to robots using radio transceivers: | |||
=A) Non-Linked Robots= | =A) Non-Linked Robots= | ||
*A.1 Tangential speeds for all robots were limited to 0.02 m/s.([[media:2010.5.run1.avi]]) | *A.1 Tangential speeds for all robots were limited to 0.02 m/s.([[media:2010.5.run1.avi]]) | ||
No physical links are used and robots perform relatively well. Due to communication errors, delays, servo inaccuracies and nature of PI controllers, robots oscillate around the path. | |||
=B) Linked Robots= | =B) Linked Robots= | ||
*B.1 Tangential speeds for all robots were limited to 0.02 m/s. ([[media:2010.5.run3.avi]]) | *B.1 Tangential speeds for all robots were limited to 0.02 m/s. ([[media:2010.5.run3.avi]]) | ||
Steering behaves worse as the physical link introduces some traction effects on the system. For the same reason, it takes longer for the robots to catch the references. | |||
*B.2 Max. tangential speed for last robot was limited (50%). References move full-speed. ([[media:2010.5.run5.avi]]) | *B.2 Max. tangential speed for last robot was limited (50%). References move full-speed. ([[media:2010.5.run5.avi]]) | ||
Revisión del 17:16 11 may 2010
These are some examples of real life experiences on the hose transportation problem. Robot detection and control software is run on a PC. Red dots represent the references (where robots should be) and green dots the posture given by the camera (where they are). Commands are sent to robots using radio transceivers:
A) Non-Linked Robots
- A.1 Tangential speeds for all robots were limited to 0.02 m/s.(media:2010.5.run1.avi)
No physical links are used and robots perform relatively well. Due to communication errors, delays, servo inaccuracies and nature of PI controllers, robots oscillate around the path.
B) Linked Robots
- B.1 Tangential speeds for all robots were limited to 0.02 m/s. (media:2010.5.run3.avi)
Steering behaves worse as the physical link introduces some traction effects on the system. For the same reason, it takes longer for the robots to catch the references.
- B.2 Max. tangential speed for last robot was limited (50%). References move full-speed. (media:2010.5.run5.avi)
- B.3 Max. tangential speed for last robot was limited (50%). References move at 75% speed.(media:2010.5.run6.avi)
- B.4 Max. tangential speed for last robot was limited (50%). References move at 50% speed.(media:2010.5.run7.avi)
- B.5 Last robot is switched off. References move full-speed. (media:2010.5.run8.avi)
- B.6 Last robot is switched off. References move at 50% speed. (media:2010.5.run9.avi)
