1 / 1

ClodBuster Kinematic Model

Y (meters). P 8 (1,9). P 7 (2.5,9). P 6 (4,9). 9. Y. Y. 8. P 9 (0,7.5). q ( k +1). P 5 (5,7.5). 7. CB 1. q ( k ). q 1. P 10 (0,6). f. ( x k , y k ). 6. P 4 (5,6). q 1 = ( x 1 , y 1 , q 1 ). l. q. y. 5. r. 4. CB 2. P 11 (0,4). 0.127 m. X. x. b. 3.

kendis
Download Presentation

ClodBuster Kinematic Model

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Y (meters) P8 (1,9) P7 (2.5,9) P6 (4,9) 9 Y Y 8 P9 (0,7.5) q(k+1) P5 (5,7.5) 7 CB1 q(k) q1 P10 (0,6) f (xk,yk) 6 P4 (5,6) q1 = (x1, y1, q1) l q y 5 r 4 CB2 P11 (0,4) 0.127 m X x b 3 P3 (5,3) d X P12 (0,2.5) 2 P2 (5,2) q2 = (x2, y2, q2) Ben S. P1 (3.5,1) 1 0 X (meters) 0 1 2 3 4 5 R3 Localization and Velocity Estimation of Mobile RobotsAveek K Das, Rafael Fierro, Vijay Kumar and Patrick MalloyGRASP Laboratory ClodBuster Kinematic Model The EKF Algorithm for Localization Experimental Results Floor Plan of Workspace for Experiments Actual outputs from the filter for the robot making a circle of radius 0.7 m starting at (x, y, theta) = (2.5, 2, 0) View of orange landmarks from the ClodBuster’s OmniCam Experimental Results Formulation of the Extended Kaman Filter The EKF Algorithm Velocity Estimation

More Related