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.
[{Image src='attach/PIDRugBumpChallenge/rug-bump.jpg' link='attach/KR01/on-the-bench.jpg' caption='The dreaded rug bump' width='400' align='right' class='imgFloatRight'}]
The __PID Rug Bump Challenge__ is the ability for a small robot (with 35mm radius wheels) to confront the edge of the thick Kilim rug in my lounge (17mm thick, about half of the wheel radius) with one wheel — the other remaining on the wood floor — 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.
''More on this as the story develops...''
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[{Tag GettingStarted}]
This page (revision-7) was last changed on 2021-10-27 18:52 by Murray AltheimTop