Day 017.3 - odometry allows a robot to estimate its pose...

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11 For Triangular Distribution 10 3 samples 10 4 samples 10 6 samples 10 5 samples
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12 Rejection Sampling Sampling from arbitrary distributions 1. Algorithm sample_distribution ( f,b ): 2. repeat 3. 4. 5. until ( ) 6. return
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Examples 2/13/2012 13
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Odometry Motion Model 2/13/2012 14 many robots make use of odometry rather than velocity odometry uses a sensor or sensors to measure motion to estimate changes in position over time typically more accurate than velocity motion model, but measurements are available only after the motion has been completed technically a measurement rather than a control but usually treated as control to simplify the modeling
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Unformatted text preview: odometry allows a robot to estimate its pose but no fixed mapping from odometer coordinates and world coordinates in wheeled robots the sensor is often a rotary encoder 15 Example Wheel Encoders These modules require +5V and GND to power them, and provide a 0 to 5V output. They provide +5V output when they "see" white, and a 0V output when they "see" black. These disks are manufactured out of high quality laminated color plastic to offer a very crisp black to white transition. This enables a wheel encoder sensor to easily see the transitions. Source: http://www.active-robots.com/...
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Day 017.3 - odometry allows a robot to estimate its pose...

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