Robot Localization and Map Building Part 1 docx

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...

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Robot Localization and Map Building Part 6 docx

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...

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Robot Localization and Map Building Part 16 docx

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...

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Robot Localization and Map Building Part 2 pptx

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...

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Robot Localization and Map Building Part 3 pdf

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 )  ...

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Robot Localization and Map Building Part 5 pps

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...

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Robot Localization and Map Building Part 8 pot

Robot Localization and Map Building Part 8 pot

... 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)...

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Robot Localization and Map Building Part 9 doc

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...

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Robot Localization and Map Building Part 10 pot

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...

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Robot Localization and Map Building Part 11 potx

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 &...

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