Finally, we identified a tradeoff with our threshold settings. The more we allowed wheel velocity to vary, the faster the wheels would reach the target speed. This is truly a tradeoff as both results are desired. We simultaneously want fast response as well as matched wheel speeds. Of course the solution to this problem is to implement a sophisticated algorithm and feedback control. Unfortunately we did not have the time, nor the expertise required to properly characterize the system and develop the stable and efficient algorithms needed to fully utilize the system and perfect the design.
Standards
Our project was not required to follow any standards when it is under operation. It consists of a self contained system that does not transmit or receive any external data. Additionally, our robotic vehicle obeyed all speed limits and local traffic laws. When programming and debugging our software, we followed the RS-232 standards for serial data.
Existing Patents and Copyrights
The ideas used in our project were considered to be in the public domain and we did not copy any patented designs to accomplish our goals. This project was used for educational and demonstrational purposes only. At the conclusion of our project, we are not considering to pursue any copyrights or patents on our design.
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