Day 017.4

# Day 017.4 - Odometry Model bar indicates odometer...

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Unformatted text preview: Odometry Model bar indicates odometer coordinates Robot moves from Odometry information 2 x , y , to x ' , y ' , ' . u = , . , rot1 rot 2 trans trans = ( x '- x ) + ( y '- y ) 2 rot1 = atan2( y '- y , x '- x ) - rot 2 = '- - rot1 x , y , rot 2 rot1 trans x ' , y ' , ' Noise Model for Odometry The measured motion is given by the true motion corrupted with noise. ^rot1 = rot1 - 2 1 rot 1 + 2 2 trans ^trans = trans - 3 2 2 2 trans + 4 rot 1 + rot 2 ^rot 2 = rot 2 - 2 1 rot 2 + 2 2 trans Sample Odometry Motion Model 1. 1. 2. 3. 4. 5. 6. 7. Algorithm sample_motion_model(u, x): u = rot1 , rot 2 , trans , x = x, y, 2 2 ^rot1 = rot1 + sample(1 rot1 + 2 trans ) 2 2 2 ^trans = trans + sample( 3 trans + 4 ( rot1 + trans )) ^ = + sample( 2 + 2 ) rot 2 rot 2 1 rot 2 2 trans x' = x + ^trans cos( + ^rot1 ) y ' = y + ^trans sin( + ^rot1 ) ' = + ^ + ^ rot1 rot 2 sample_normal_distribution Return x ' , y ' , ' Sampling from Our Motion Model Start ...
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Day 017.4 - Odometry Model bar indicates odometer...

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