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Velocity Motion Model

This document discusses probabilistic motion models for robots. It describes how robot motion is inherently uncertain and can be modeled using probability distributions. Specifically, it presents the velocity motion model, which calculates the robot's new position based on its velocities and the time elapsed. The document derives the equation for the velocity model and describes how the posterior probability p(x|x',u) can be modeled based on the motion equations. It discusses typical motion models like odometry-based and velocity-based, and common probability distributions like the normal and triangular that can be used to model the uncertainties.

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Alp Gürkaynak
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221 views22 pages

Velocity Motion Model

This document discusses probabilistic motion models for robots. It describes how robot motion is inherently uncertain and can be modeled using probability distributions. Specifically, it presents the velocity motion model, which calculates the robot's new position based on its velocities and the time elapsed. The document derives the equation for the velocity model and describes how the posterior probability p(x|x',u) can be modeled based on the motion equations. It discusses typical motion models like odometry-based and velocity-based, and common probability distributions like the normal and triangular that can be used to model the uncertainties.

Uploaded by

Alp Gürkaynak
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Velocity Motion Model

etin Merili

25.09.2007

Outline
Preliminaries
Kinematic Configuration Probabilistic Kinematics

Velocity Motion Model


Derivation Exact Motion Real Motion Algorithms

Kinematic Configuration
In general the configuration of a robot can be
described by six parameters.

Three-dimensional cartesian coordinates plus three


Euler angles pitch, roll, and tilt. on a planar surface.

Throughout this section, we consider robots operating

The state space of such


systems is threedimensional (x,y,).

Dynamic Bayesian Network for Controls, States, and Sensations

Robot Motion
Robot motion is inherently uncertain. How can we model this uncertainty?

Reasons for Motion Errors

ideal case

different wheel diameters

bump and many more

carpet
6

Probabilistic Motion Models

To implement the Bayes Filter, we need


the transition model p(x | x, u).

The term p(x | x, u) specifies a posterior


probability, that action u carries the robot from x to x.

In this section we will specify, how

p(x | x, u) can be modeled based on the motion equations.


7

Typical Motion Models


In practice, one often finds two types of motion
models:
Odometry-based Velocity-based (dead reckoning)

Odometry-based models are used when systems


are equipped with wheel encoders. no wheel encoders are given.

Velocity-based models have to be applied when They calculate the new pose based on the
velocities and the time elapsed.
8

Dead Reckoning

Derived from deduced reckoning. Mathematical procedure for determining

the present location of a vehicle. Achieved by calculating the current pose of the vehicle based on its velocities and the time elapsed.

Velocity-Based Model

10

Mathematical Derivation

On Board

11

Equation for the Velocity Model


Center of circle:

with

12

Posterior Probability for Velocity Model

correction: |v| => v^2, |w| => w^2

13

The atan2 Function


Extends the inverse tangent and correctly
copes with the signs of x and y.

14

Calculating the Probability (zerocentered)


For a normal distribution
Algorithm prob_normal_distribution(a,b): return

For a triangular distribution


Algorithm prob_triangular_distribution(a,b): return
15

Typical Distributions for Probabilistic Motion Models


Normal distribution Triangular distribution

2 x =

e 2

1x 2 2

2 x =

0 ifx 6

62 x
6
2
16

Sampling from Velocity Model

17

How to Sample from Normal or Triangular Distributions?


Sampling from a normal distribution
Algorithm sample_normal_distribution(b): return

Sampling from a triangular distribution


Algorithm sample_triangular_distribution(b): return
18

Normally Distributed Samples

106 samples

19

For Triangular Distribution

103 samples

104 samples

105 samples

106 samples

20

Examples (velocity based)

21

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