Introduction to Robotics
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3 mobile robot mistakes that cost marks
3 mistakes that cost marks in mobile robot questions
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Lesson notes
Explain differential drive motion and identify robotics uses and limits in Ghana's industries
Key points
- Adding wheel speeds: Robot speed is the average of wheel speeds, v equals vR plus vL over two, not their sum.
- Forgetting wheel radius: Encoder distance is ticks over ticks per revolution, times two pi r; never skip the radius.
- Trusting odometry forever: Wheel slip on muddy cocoa farm paths makes odometry error grow, so fuse GPS or landmarks for localization.
Takeaway: Odometry drifts with slip; always correct it with other sensors.
Quick check: A differential drive robot has wheels at 0.4 and 0.6 m/s. What is its forward speed?
- 1.0 m/s
- 0.2 m/s
- 0.5 m/s
Forward speed is the average: (0.6 + 0.4) ÷ 2 = 0.5 m/s.
differential driveodometrylocalization
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