Test

Test on May 17, 2013

Front two wheels steerings, odometry read from the low-level control board

Test 1

Go forward, then back up to the origin.

Result

Desired Path(x,y/m)	Measured(x,y/m)
(4.7, -0.2)	(4.773, -0.205)
(0,0)	(-0.075, 0.438)

Comment: Very Accurate

Test 2

Drive forward with left steering angle on the front.

from (0,0) to (3.95, 2.6)

Result

Desired Path(x,y/m)	Measured(x,y/m)
(3.95, 2.65)	(3.91, 1.877)

Comment: Very Accurate on the x direction, not as good on the y direction, maybe due to the bumpy terrain.

Test 3

Drive forward, turn around, come back to the origin, with a 180 theta.

from (0,0) theta=0 to (0, 0) theta=180

Result

Desired Path(x/m,y/m,theta/degrees)	Measured(x/m,y/m,theta/degrees)
(0,0,180)	(-0.182, 0.788, 174)

Comment: Very Accurate on the x direction and theta, not as good on the y direction. There might have been some side slip happened.

Test 4

Drive freely in the parking lots for a lot of loops, then came back to the origin with a 0 theta.

from (0,0) theta=180 to (0, 0) theta=0

Result

Desired Path(x/m,y/m,theta/degrees)	Measured(x/m,y/m,theta/degrees)
(0,0,0)	(5.6, -7.3, 130)

Comment: Although there's a big difference on the desired and measured direction, the accurary is acceptable because the terrain is not flat and the car was driven for a long time period of 18.5 minutes.