This page (revision-7) was last changed on 2021-10-27 18:52 by Murray Altheim

This page was created on 2021-01-23 22:27 by Murray Altheim

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PID Rug Bump Challenge
PIDRugBumpChallenge

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The PID Rug Bump Challenge is the ability for a small robot (with 35mm radius wheels) to confront the edge of a thick Kilim rug (17mm thick) with one wheel without being deterred from its path, i.e., recovering from that bump whilst maintaining its original heading.
The __PID Rug Bump Challenge__ is the ability for a small robot (with 35mm radius wheels) to confront the edge of a thick Kilim rug (17mm thick) with one wheel without being deterred from its path, i.e., recovering from that bump whilst maintaining its original heading.
The "ideal" behaviour would be follows, quoting David Anderson of the DPRG:
%%blockquote
Even at very low torque/low speed the robot rotates through maybe a
degree before mounting the carpets, and then once mounted the PID
controller over-corrects and that straightens it out onto the original
path.   So a little figure 'S'.  At higher speeds it just goes straight
over the elevated carpet, with no change in the path.
%%
Tuning the [PID Controllers] so that they respond in kind is the challenge.
This page (revision-7) was last changed on 2021-10-27 18:52 by Murray AltheimTop