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...

Ngày tải lên: 12/08/2014, 00:20

... 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...

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... - 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...

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... 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...

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... 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 )  ...

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... (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...

Ngày tải lên: 12/08/2014, 00:20

... method of map building. (17 ) (18 ) (19 ) (20) ( 21) RobustGlobalUrban Localization BasedonRoadMaps 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)...

Ngày tải lên: 12/08/2014, 00:20

... 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...

Ngày tải lên: 12/08/2014, 00:20

... 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...

Ngày tải lên: 12/08/2014, 00:20

... 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 &...

Ngày tải lên: 12/08/2014, 00:20