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Moving Average - Making the robots less sensitive to minor fluctuations of noise on accelerometer readings. For each robot we will have different "status quo" readings from the accelerometer values. To find a shock relative to the uniqueness found in each accelerometer, we need to employ some sort of running average with a variable threshold defined as a function of the average value of the X,Y,Z readings of the accelerometer. This threshold will consider true shocks to be some "reasonable" fractional increase of values in the X,Y,Z readings of the accelerometer. That is, is the new measurement (or are a few new couple new measurements) greater than X standard deviations from the running mean? |
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