Elements of Robotics by Mordechai Ben-Ari & Francesco Mondada

Author:Mordechai Ben-Ari & Francesco Mondada
Language: eng
Format: epub, pdf
Publisher: Springer International Publishing, Cham

Right

0.05

0.19

0.17

0.04

0.04

0.17

0.19

0.17

Sensor

0.05

0.17

0.02

0.00

0.03

0.15

0.17

0.02

Norm

0.08

0.27

0.03

0.01

0.06

0.25

0.28

0.03

Right

0.06

0.12

0.23

0.05

0.01

0.07

0.23

0.25

Sensor

0.05

0.10

0.02

0.01

0.01

0.06

0.21

0.02

Norm

0.11

0.21

0.05

0.01

0.02

0.13

0.43

0.05

8.6 Summary

Odometry provides an estimation of the position of a robot. A robot can use surveying techniques to compute its position relative to an object of known position. GPS gives excellent data on location, however, it may not be accurate enough and interference with reception from the satellites limits its use in indoor environments. If there are multiple known objects that the robot can sense and if it has a map of its environment, it can use probabilistic localization to estimate its position with high probability, although the probability will be reduced if there is a lot of uncertainty in the sensors or in the motion of the robot.

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