NXC: navigation robot based on odometry, gyro, and compass

[HaWe]

NXC: a simple approach for a navigation robot based on odometry, gyro, and compass sensor, still experimental stage.
No advanced stochastic filters in the moment, just medians and means (an additional accelerometer and a Kalman or a particle filter planned for the future)
Rather satisfactory results both indoors and even outdoors with bad odometry data.
http://www.mindstormsforum.de/viewtopic.php?f=70&t=6746

[gloomyandy]

Hi Doc,
Looks interesting... Do you have any video of it in action, or any data on how well it performs?

Looking forward to seeing how this develops...

Andy

[HaWe]

sry, no video currently. You may see on the foto that there is a 2x twin-wheel-motion which worsens the turning/spinning behaviour and thus worsens odometry data (but it's better for traction outdoors).

This is a short test I made several times reproducibly:
vehicle size: 30cm x 40cm.
Start at any Position, set as (0,0)
heading 76° (about east-north-east, to compass) =>

1.targeting Position (50,50);
heading 45° (north-east),
driving 71cm to position (50,50); [cm]

2. targeting Position (50,-50);
heading 180° (south)
driving 100cm to position (50,-50);

3. targeting Position (0,0);
heading 315° (north-west),
driving 71cm back to start position (0,0);

finally:
again turn to initial compass heading, in my case 76°.

the positioning error is
dY=+1cm
dX=-5cm