Velocity Motion Model
2/10/2012
6
recall that we want the posterior conditional density
of the control action
u
t
carrying the robot from pose
x
t
1
to
x
t
in time
Δ
t
so far the algorithm has computed the required control action
needed to carry the robot from position
(x y)
to position
(x’ y’)
the control action has been computed assuming the robot moves
on a circular arc
)
,

(
1
−
t
t
t
x
u
x
p
t
u
ˆ
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Velocity Motion Model
2/10/2012
7
the computed heading of the robot is
the heading should be
the difference is
or expressed as an angular velocity
θ
θ
θ
∆
+
=
ˆ
θ
′
θ
θ
θ
θ
θ
θ
∆
−
−
′
=
−
′
=
ˆ
err
ω
θ
θ
θ
γ
ˆ
err
err
−
∆
−
′
=
∆
=
t
t
Line 9,
Eq 5.25, 5.28