Specifications

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CHAPTER 5
PERFORMANCE AND DATA ANALYSIS
No specific data was obtained from the results of this dissertation. This is due to the
fact that it is a simple performance based outcome. If GPS tracking or similar had been
used to control direction there would be headings and position plots to consider. The
only way to assess the performance of the Mobile Manoeuvring Robot is to visually
assess the performance. This performance however can be broken down into the
various aspects of the robot such as mechanical, software, electrical and so on. This
chapter discusses the performance of each individual aspect of design and in some cases
suggests recommendations to overcome some of the poorer performance aspects.
5.1 Sensor performance
The sensors used in the Mobile Manoeuvring Robot ended up working successfully. A
reasonable range was achieved (explained later) and a clean voltage drop was obtained
for communication with the microprocessor. Overall these are the only requirements
necessary for operation of the robot.
To greatly assess the performance of the sensors a simple test was performed to
determine the range of object detection. This involved sensor height range, width range
and distance range. Basically an object was held to the side of the sensors view and
then moved slowly across the sensors view until the response triggered. By lining this
point up to rulers laying in each direction orthogonal to each other (x, y, z axes) a point
was recorded in 3d space. This was performed in every direction until each extremity of
the sensors range was known. These points can then be plotted using computer
software to give a clear indication of the effective distance of the sensors. The object of
choice was a small white block of timber which gave an effective reflection of light.
The following table of data was obtained from physical experimentation with one of the
sensors.