对不起，我机器方面的中文程度不太好。你能用英语翻译吗？最基本来说，标准性有几方面是无法完全解决。1. Discrete time pose update 2. Floating point precision 3. Wheel diameter estimation 4. Rigid body assumptions (尤其是axle track) 5. Encoder resolution 6. Rolling without slipping etc.
Unfortunately I have no idea where the code is. However, I will be writing an explainer on my website and sharing it when it is ready! The basic principle is simple. We assume 2 wheeled kinematics with rigid body constraints, updating the robot pose at each time step. When the user presses a button indicating the end of the sequence, the robot attempts to return to the original position using PID control.
oo nice is it just a subtractor design or smth? or just normal 1 motor per wheel
Differential drive, left and right wheel turn at different speeds for the robot to steer
太酷了~~有考慮過用里程計運動模型玩玩看嗎？會更精準喔~
对不起，我机器方面的中文程度不太好。你能用英语翻译吗？最基本来说，标准性有几方面是无法完全解决。1. Discrete time pose update 2. Floating point precision 3. Wheel diameter estimation 4. Rigid body assumptions (尤其是axle track) 5. Encoder resolution 6. Rolling without slipping etc.
Wow that's cool, could you share the code?
Unfortunately I have no idea where the code is. However, I will be writing an explainer on my website and sharing it when it is ready! The basic principle is simple. We assume 2 wheeled kinematics with rigid body constraints, updating the robot pose at each time step. When the user presses a button indicating the end of the sequence, the robot attempts to return to the original position using PID control.
Check out the link in the description for a short explainer!
Very nice 👍
Thank you :)