How does the math behind odometry all work out? How do robots know where they're facing? An in depth explanation of the robot odometry tracking theory used in VEX and FRC robots.
Check out the next video of the series on the Math behind Position Odometry: • How do robots know whe...
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Full Odometry Playlist ⏯: • Essence of Robot Odometry
Check out the previous video here⏯: • What is Odometry? | An...
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Timeline:
(0:00) - Introduction
(1:36) - Placement of Tracking Wheels
(4:06) - Arc Tracking Theory
(5:35) - Calculating the Arc Angle (Orientation of the bot)
(9:17) - Outro
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For those who want to learn more, I highly recommend this document by Team 5225A introducing their position tracking system, which helped play a major role in them becoming the 2018 Vex World Tournament and Skills Champions: thepilons.ca/wp-content/upload...
Team 5225A has also graciously released their winning code as an educational resource here: github.com/nickmertin/5225A-2...
I also highly recommend this other paper by MIT on odometry and motor controls: bit.ly/3duutTw
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11 июл 2024