Day 016.3 - velocity thus, we assume that the final heading...

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Velocity Motion Model 2/10/2012 11 the textbook assumes that the variances can be modeled as where the α i are robot specific error parameters the less accurate the robot the larger the α i 2 4 2 3 noise 2 2 2 1 noise ) var( ) var( ω α + = + = v v v Eq 5.10
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Velocity Motion Model 2/10/2012 12 a robot travelling on a circular arc has no independent control over its heading the heading must be tangent to the arc this is problematic if you have a noisy commanded angular
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Unformatted text preview: velocity thus, we assume that the final heading is actually given by where is the angular velocity of the robot spinning in place t + = t t + + = Eq 5.14 Velocity Motion Model 2/10/2012 13 the book assumes that where noise + = actual velocity noise 2 6 2 5 noise ) var( + = v Eq 5.15...
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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 016.3 - velocity thus, we assume that the final heading...

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