Run 1
Minima
We can see from the first figure that the observed minima values ranged from 27.6 to 29.2 inches.The overall mean minima value was 28.6 inches, with a standard deviation of 0.4 inches.
We can see from the second figure that the mean minima values (mean per sample) ranged from 27.8 to 28.9 inches.
The standard deviation of mean minima values was 0.3 inches.
Therefore, we have SIGMA_DIST = 0.3 (inches).
Edge angles
The relative edge angles of the meetpoint were about 115,115 and 130 degrees, as shown in the first figure.From the second figure we see that the asymmetry mean was 13.7 degrees, with a standard deviation of 3.7 degrees.
Therefore, we have SIGMA_SYM = 3.7 (degrees).
Run 2
Minima
We can see from the first figure that the observed minima values ranged from 28.0 to 29.6 inches.The overall mean minima value was 28.9 inches, with a standard deviation of 0.4 inches.
We can see from the second figure that the mean minima values (mean per sample) ranged from 28.2 to 29.4 inches.
The standard deviation of mean minima values was 0.3 inches.
Therefore, we have SIGMA_DIST = 0.3 (inches).
Edge angles
The relative edge angles of the meetpoint this time were close to 120,120 and 120 degrees, as shown in the first figure.From the second figure we see that the asymmetry mean was 8.4 degrees, with a standard deviation of 3.0 degrees.
Therefore, we have SIGMA_SYM = 3.0 (degrees).
Discussion:
We can see from these early experiments that the sonar are reasonably accurate with respect to distance measures.I have observed, however, that the cardboard material produces more noisy range data than drywall or concrete.
We also see that the angle data is consistent, but note that this meetpoint approaches the minimum tolerable scale.
In other words, these are ideal conditions in terms of scale for this robot and its sensors.
We need to take this procedure to varied scale of meetpoints for any conclusions, but keep this base data in mind.
