2013年9月17日火曜日

台湾大会結果

試走会ではハーフ,クラシックともにぼちぼちの走行ができていましたが,本番では...

ハーフは 13.05 sec で優勝.2位のタイムが 13.13 secだったのでかろうじて勝てたというかんじでしょうか.迷路は写真のようにいわゆるラーメンと長い斜めを含む21×21区画でした.タイムからもわかるようにゴールまでが長い.

クラシックは探索に2回失敗し,その後一応探索完了して最短走行もできたけどタイムはそこそこ.

詳しくはまた後日余裕があればということで.

11 件のコメント:

Green Ye さんのコメント...

That was unbelievable that you won the first place by restraining max speed on diagonal.Must because of turn :)
I have a question here. If a half size micromouse has both high resolution encoder, gyro and accelerometer, what do you think the accelerometer can do to with the existence of high resolution encoder? Thank you. I am actually thinking if I should put a accelerometer on the micromouse I am design since I am already using AS5145B(12bit)

kojima さんのコメント...

The max speed of diagonal run was 1.8 m/s. It is not so fast, as you say. However, the turn speed seemed to be faster than other mice.

I think that accelerometer is not so important if you use 12bit resolution encoders.
However, based on my experience of Kojimouse7, the fluctuation of measured velocity by encoders can be decreased with accelerometer.
With low noise measured velocity, PID control might be stabilized, though I don't know whether it leads to run faster or not.

Green Ye さんのコメント...

Thanks for your reply!
you said accelerometer will output a lower velocity than encoder, is that because the wheels are slipping where the accelerometer is not really affected? It sounds good to use accelerometer to compensate the slippage of encoder when at high speed.

kojima さんのコメント...

I'm afraid you might misunderstand. Accelerometer outputs low fluctuation velocity by combining with encoders. The velocity is basically measured by encoders even in the case you use an accelerometer. So, compensating slip at high speed is still difficult.

Green Ye さんのコメント...

oh, Ic. Now I understand! Thanks for the detailed explanation :)
matsui use a gyro accelerometer combo IC on his half size mouse. I guess he might have some idea on how to utilized it.

kojima さんのコメント...

Mr. Matsui actually uses a device including gyro and accelerometer supplied by Invensense. However, I heard that he hadn't used accelerometer yet at the Taiwan contest. I expect he will use the accelerometer well for slip compensation at the Japan contest on November.

Green Ye さんのコメント...

Yeah, it will be good for him to figure out and share something interesting about this to us, I am looking forward to it :)
I think I will use a combo IC too instead just a analog gyro and see what I can do.

Yuki Matsui さんのコメント...

Hi, Mr.Green.
As Mr.Kojima says,my mouse has two gyro accelerometer combo IC.(I hear using two accelerometer makes accuracy better.)
However,I don't use accelerometer because I can still improve my mouse movement without it.
I'll share if I figure out something new.

Green Ye さんのコメント...

Thank you Mr Matsui
How does the 2 accelerometers thing work? just like generally average the sample from 2 to make it more stable?

Yuki Matsui さんのコメント...

>just like generally average the sample from 2 to make it more stable?

Yes, I'll use the two accelerometer equally.Just take average.

Green Ye さんのコメント...

hah, nice and easy!
Thanks for the answer :)

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