Specifications

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Figure 5.4 shows the results of the straight line test. This section of line is
approximately one metre from the start of the test and approximately one metre long.
The chalk line has been drawn over to make more visible and a string line pulled tight to
lie beside it as a control. It can be seen that as a whole, the robot drives in a very
straight line with only slight variances in either direction. These variances may be due
to the inaccuracies of chalk on concrete or the slight changing in motor speeds and
loads. Either way this test proves the robot to adequately meet the straight line driving
performance objective.
5.4 Overall Performance
As a whole the robots performance is best assessed against the performance guidelines
set out in the project specification. Whether or not improvements can be made, the
performance guidelines are the real assessment criteria of the Mobile Manoeuvring
Robots performance. The robots performance in relation to the initial guidelines is
outlined below in detail.
Performance guideline one:
• Travel in a straight line when in a clear area with no manual assistance.
The Mobile Manoeuvring Robot encompasses odometer sensors and interrupt control to
achieve straight line driving. When in a clear area free from objects, the robot
maintains a constant speed and direction. Hence this performance guideline is met
adequately.
Performance guideline two:
• Stop before colliding with any obstacles that are in the path
Once the robot is in motion, any detectable object is avoided. Issues with this aspect of
performance come into affect with small objects that are missed by the relatively narrow
range of the sensors. Obstacles such as chair legs and tables are adequately avoided and
as it was not defined what size obstacle is necessary to be avoided; the performance in
this sector is adequate. Increased sensor spread and range would however improve this
performance aspect.