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If the robot uses the traditional two-wheel-drive approach, you should attach optical encoders to both wheels. This is necessary because the drive wheels of a robot are bound to turn at slightly different speeds over time. By integrating the results of both optical encoders, it s possible to determine where the robot really is as opposed to where it should be (see Fig. 33-10). As well, if one wheel rolls over a cord or other small lump, its rotation will be hindered. This can cause the robot to veer off course, possibly by as much as 3 to 5 degrees or more. Again, the encoders will detect this change. If the number of pulses from both encoders is the same, you can assume that the robot traveled in a straight line, and you have only to multiply the number of pulses by the dis-

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FIGURE 33-10 The relative number of counts from each encoder of the typical two-wheeled robot can be used to indicate deviation in travel. If an encoder shows that one wheel turned a fewer number of times than the other wheel, then it can be assumed the robot did not travel in a straight line.

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It is a rare circuit that has just one resistor in it. You will usually have several resistors in di erent con gurations in the circuit. How do you calculate the overall resistance of these circuits First, why would you want to calculate the resistance of a resistor network Because if you know the resistance of a circuit and the voltage it is operating at, both of which are usually known values, you can calculate the current consumed by the circuit using equation (5-2). Knowing how much current a circuit needs, you can decide what kind of power supply it needs as well as how much power, typically released as heat, it is going to use. The power consumption of a circuit, in watts, is determined by equation (5-4). For the second form of the equation, we replace V with its Ohm s Law equivalent I R: P I V P I2 R 5-4

tance per pulse. For example, if there are 1055 pulses in the accumulator-counter, and if each pulse represents 0.294 in of travel, then the robot has moved 310.17 in straight forward. In a perfect world, robots would not need anything more than a single odometer to determine exactly where they were at any given time. Unfortunately, robots live and work in a world that is far from perfect; as a result, their odometers are far from accurate. Over a 20- to 30-ft range, for example, it s not uncommon for the average odometer to misrepresent the position of the robot by as much as half a foot or more! Why the discrepancy First and foremost: wheels slip. As a wheel turns, it is bound to slip, especially if the surface is hard and smooth, like a kitchen floor. Wheels slip even more when they turn. The wheel encoder may register a certain number of pulses, but because of slip the actual distance of travel will be less. Certain robot drive designs are more prone to error than others. Robots with tracks are steered using slip lots of it. The encoders will register pulses, but the robot will not actually be moving in proportion. There are less subtle reasons for odometry error. If you re even a hundredth of an inch off when measuring the diameter of the wheel, the error will be compounded over long distances. If the robot is equipped with soft or pneumatic wheels, the weight of the robot can deform the wheels, thereby changing their effective diameter. Because of odometry errors, it is necessary to combine it with other navigation techniques, such as active beacons, distance mapping, or landmark recognition. All three are detailed later in this chapter.

Besides the stars, the magnetic compass has served as humankind s principal navigation aid over long distances. You know how it works: a needle points to the magnetic North Pole of the earth. Once you know which way is north, you can more easily reorient yourself in your travels.

surfaces at a high rate. This drive has been used with some success in walk-behind lawn mowers, but its life in that application is usually only a couple seasons. Figure 2-13 shows one of several versions of a friction drive.

A small di erence in current can make a big di erence in power consumption. The calculation of resistance depends on how the resistors are wired together.

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