Robot Localization and Map Building Part 1 docx
Robot Localization and Map Building Part 1 docx
... on Intelligent Robots and Systems, Vol. 4, pp. 19 18 19 23.
Robot Localization and Map Building2 0
Fig. 14 . Error in X axis during a simple walk along the pitch in Experiment 2.
Fig. 15 . Error in ... state.
Robot Localization and Map Building1 6
Fig. 8. Error in angle for Experiments 1, 2 and 3.
1. Simple Movements. This stage includes straight and circular robot trajectories...
Robot Localization and Map Building Part 6 docx
...
0
h
R
),(Rot
leg
1
z
10 0
0
0
10 0
0
0
22 21
1 211
11
11
rr
rr
cs
sc
legleg
legleg
(8)
Here, θ
1leg
can be defined as below.
22 211
rr ,atan2
leg
...
0
h
R
),(Rot
leg
1
z
10 0
0
0
10 0
0
0
22 21
1 211
11
11
rr
rr
cs
sc
legleg
legleg
(8)
Here, θ
1l...
Robot Localization and Map Building Part 16 docx
... - 615 75 2 618 0 26340 10 436 -11 719 1 -13 9968 -11 5468
C
c
32000 10 211 3 94 313 858 81 174076 17 3 916 15 6604 24945 4800 29908
Table 1. The results of the object classification
Robot Localization and Map Building5 30
a) ... system are as follows
x
=
1
2b
(l
12
(l
11
−l
12
) + b
2
), y =
1
2
l
2
11
−
1
b
2
(l
12
(l
11
−l
12
) + b
2
)
2
.
r
=
l
11
2
, α
= arcs...
Robot Localization and Map Building Part 2 pptx
... sonar range measurement
Robot Localization and Map Building4 6
1 2
1 1 2
1
,
x x
J x x
x
(27)
2 1 2 1
1 1 2 2 1 2 1
1 0 sin cos
, 0 1 cos sin
0 0 1
x y
x y
...
2 1 2 1
1 1 2 2 1 2 1
1 0 sin cos
, 0 1 cos sin
0 0 1
x y
x y
J x x
(28)
1 2
2 1 2
2
,
x x
J...
Robot Localization and Map Building Part 3 pdf
... correction.
20 40 60 80 10 0 12 0 14 0 16 0 18 0 200 220
6
7
8
9
10
Robot trajectory through hallway
x [dm]
y [dm]
Monte Carlo
EKF
0 200 400 600 800 10 00
16 5
17 0
17 5
18 0
18 5
Robot orientation during ... t t 1 t 1 t t 1 t 1 t 1
x
ar
g
maxp(z x u Y )p(x x u Y )
t t t t 1 t 1 t 1 t 1
x
ar
g
maxp(z x )p(x x u )p(x Y )
...
Robot Localization and Map Building Part 5 pps
...
(4)
Robot Localization and Map Building1 40
map
2
is 0.35 rads rotated and t
x
= 5m, t
y
= 10 m translated from map1 . The size of the maps
is 30X30 metres. Coincident points between the maps ... figure, map
1
is represented by stars and has 18 1
landmarks. On the other hand, map
2
is represented by circles and it size is of 18 7 landmarks.
In Figure 15 (b), we ca...
Robot Localization and Map Building Part 8 pot
... method of map building.
(17 )
(18 )
(19 )
(20)
( 21)
RobustGlobalUrban Localization BasedonRoadMaps 2 71
( 1) ( 1)
1 1 1
1 1 1 1 1
1
1 1 1 1 1
1
1 1 1
1
| ...
1
T
2
T
Fig. 2. Position Estimation Using Covariance Intersection
Robot Localization and Map Building2 70
( 1) ( 1)...
Robot Localization and Map Building Part 9 doc
... experiments. The known map (cyan) and a
satellite image of the region are included in the picture.
10 00 11 00 12 00 13 00 14 00 15 00 16 00 17 00 18 00 19 00 2000
500
600
700
800
900
10 00
11 00
12 00
13 00
Longitude ... where the map is incomplete
(approximately x =18 50m, y =11 00m).
10 00 11 00 12 00 13 00 14 00 15 00 16 00 17 00 18 00 19 00 2000
-800
-75...
Robot Localization and Map Building Part 10 pot
...
Constant 1 4 3 .1 0.86 10 .87 1. 37
8 3.98 0.88 11 .65 1. 08
Quadratic 2 4 5.23 1. 03 12 .2 2. 01
8 4.8 0.89 11 .9 1. 34
16 4. 91 0. 91 12.42 1. 27
4 4 2.88 0.78 9.72 0.97
8 2. 91 0.87 9.84 0.89
16 3. 01 0.8 ... 9.84 0.89
16 3. 01 0.8 11 . 21 1 .14
Normal 0.5 4 2.94 0.89 10 .02 0.98
8 2. 91 0.79 8.78 1. 03
2 4 37.65 1. 31 64.84 12 .73
8 24.36 1. 16 43.6...
Robot Localization and Map Building Part 11 potx
...
2026 .18 9 - 712 7.78 -562. 917 298. 21 20.87
17 56.365 - 714 1.03 -559.438 578.32 21. 32
217 4.074 - 711 8.34 -693.84 14 3.34 16 2.08
19 00.543 - 713 3.42 -686.855 433.87 13 2.65
2028.248 - 712 4.78 -844.925 2 81. 93 ...
1
'
'
10 0
cossin
sincos
1
1
1
1
1
0
0
y
x
y
x
y
x
12
12
12
12
&...