deadReckoning

deadReckoning - MEM380 Fundamental Robotics I Assignment 3...

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Unformatted text preview: MEM380: Fundamental Robotics I Assignment 3 Due: Monday, 10/19/09, 11:59pm EST 1 Objective: The objective of this assignment is three-fold: 1) review rotation matrices; 2) investigate the use of inertial sensors (accelerometers and a rate gyroscope) for dead reckoning in a differential drive mobile robot; and 3) investigate the effects of small biases on inertial navigation performance. Requirements: You MUST use Matlab to complete this assignment. For Task 1, write a Matlab script named task0 user.m where user is your Drexel login and use the disp() function to display your answer. You can use additional Matlab functions to do computations that may help you justify your answers. 2 Rotation Matrices Task 1: For each of the following matrixes, determine if it is a valid rotation matrix. You MUST justify your responses. If you answer yes/no, you will get a 0/0 for the question. 1. (5 points) " 1 2- √ 3 2 √ 3 2 1 2 # 2. (5 points) cos θ sin θ- sin θ cos θ 3. (5 points) a b c d 4. (5 points) "- √ 2 2- √ 2 2 √ 2 2- √ 2 2 # 1 5. (5 points)5....
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  • Spring '09
  • ZHOU
  • Inertial navigation system, Dead reckoning, inertial navigation, inertial navigation performance, drive mobile robot

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deadReckoning - MEM380 Fundamental Robotics I Assignment 3...

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