Experimental construction and comparison of motion model of wheeled mobile robot

Yoonkyu  Yoo

Nowadays, two or more different types of pose data are used to obtain reliable pose data.
A mobile robot has to estimate its current pose using data from motion and sensor model uncertainty in a wide space without many obstacles.

Various Sensor Model Uncertainties

There are different types of sensor model uncertainty.

It is important to apply different motion model uncertainty varies across navigational paths.

Motion model uncertainty of various paths

It is clear that unnecessary calculations and the pose uncertainty can be reduced by choosing a proper path depending on the sensor model uncertainty from simulation results.

[Motion model uncertainty of various paths]

Posted by ISR

티스토리 툴바