Day 013.3

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

This preview shows pages 1–5. Sign up to view the full content.

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

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
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
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

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
This is the end of the preview. Sign up to access the rest of the document.

## 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.

### Page1 / 5

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

This preview shows document pages 1 - 5. Sign up to view the full document.

View Full Document
Ask a homework question - tutors are online