Day 013.3 - Sensitivity to Wheel Velocity vr(t = 1 N(0 2...

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Sensitivity to Wheel Velocity 2/3/2012 11 2 . 0 10 0 0 ) 0 ( ) , 0 ( 1 ) ( ) , 0 ( 1 ) ( 2 2 = = = + = + = t t v t v r θ σ N N σ = 0.05 σ = 0.01
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Sensitivity to Wheel Velocity 2/3/2012 12 given the forward kinematics of the differential drive it is easy to write a simulation of the motion we need a way to draw random numbers from a normal distribution in Matlab randn(n) returns an n-by-n matrix containing pseudorandom values drawn from the standard normal distribution see mvnrnd for random values from a multivariate normal distribution
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Sensitivity to Wheel Velocity 2/3/2012 13 POSE = []; % final pose of robot after each trial sigma = 0.01; % noise standard deviation L = 0.2; % distance between wheels dt = 0.1; % time step TRIALS = 1000; % number of trials for trial = 1:TRIALS
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This note was uploaded on 02/13/2012 for the course CSE 4421 taught by Professor Burton during the Winter '11 term at York University.

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Day 013.3 - Sensitivity to Wheel Velocity vr(t = 1 N(0 2...

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