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Single step translation (σtrs=5, σdrf =1) Single step translation (σtrs=1, σdrf =5)
40
30
50 50
20 20
10
0 0 0 0
−10
−20 −20
−50
−50
−30
−40
−40
0 20 40 60 80 100 0 50 100 150 200 0 20 40 60 80 100 0 50 100 150 200
100cm distance travelled 200cm distance travelled 100cm distance travelled 200cm distance travelled

150
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50 50 100
0 0
0 0
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−50
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σ Trs :3 cm/m
σ Rot :2 Deg/360Deg
400
600 σ Drft :2 Deg/m

350
500

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400

Y−axis
250
300

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100

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−400 −300 −200 −100 0 100 200 300 400 500 600 X−axis

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Observed Robot−Target
(Moving)
φ^ θ^ m
x m ,y m

Observing Robot−Laser
(Stationary)
dx= xm− x s
dy= ym−ys
x s,ys ^θ
w ρ = dx2 +dy 2
^θ =atan2(dy,dx)= ^ + ^
^θ s ^
θ w θ θs
^φ =atan2(−dy,−dx)= ^ + ^
w φ θm
^
Tracker Returns: < ρ, θ, φ^>

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^
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Observing Robot−Laser
^
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φ^ w θw m
x s,ys ^ =atan2(−dy,−dx)= ^φ+ θ
φw s

θs φ^
^ ^
Tracker Returns: < ρ, θ, φ >

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Error (in degrees)

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−50 −40 −30 −20 −10 0 10 20 30 40 50
Rotation angle (in degrees)

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Error in Rotation from Intended Angle (for three different speeds)
1.5

0.5
Error (in degrees)

−0.5

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−50 −40 −30 −20 −10 0 10 20 30 40 50
Rotation angle (in degrees)

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Histogram of Error (E=0.0882 σ=0.0962) Histogram of Error (E=1.4055 σ=0.2934)
10 6

8 5

Number of samples

Number of samples
4
6
3
4
2
2 1

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Error in degrees (Carpet 1) Error in degrees (Plastic 1)

Histogram of Error (E=0.5296 σ=0.2143) Histogram of Error (E=0.7484 σ=0.1477)


12 12

10 10
Number of samples

Number of samples
8 8

6 6

4 4

2 2

0 0
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Error in degrees (Carpet 2) Error in degrees (Tile Floor)

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Histogram of Error (E=−0.4557 σ=0.1334) Histogram of Error (E=−1.7205 σ=0.2564)
12 6

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8 4

6 3

4 2

2 1

0 0
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Histogram of Error (E=−0.8371 σ=0.1042) Histogram of Error (E=−0.9922 σ=0.1654)


10 7

6
8
5
6 4

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2
2
1

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Error in degrees (Carpet 2) Error in degrees (Tile Floor)

Error distribution from intended angle (−90°)

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20
15
15
10
10

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Error in cm (E=0.0924 σ=0.7906) Error in cm (E=0.3422 σ=0.6201)

Histogram of error in Θ Position of the Robot


30 2

25
1
20

15 0

Y
10
−1
5

0 −2
−1 −0.5 0 0.5 1 85 90 95 100 105
Error in degrees (E=0.0601 σ=0.3075) X

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7 5

6
4

Number of samples

Number of samples
5

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1
1

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Error in cm (E=2.4488 σ=0.9003) Error in cm (E=0.9771 σ=0.4167)

Histogram of error in Θ Position of the Robot


5 2

4
Number of samples

3
0

Y
2

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1

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Plastic

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Number of samples

Number of samples
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6
6
4
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Error in cm (E=−1.4318 σ=0.8155) Error in cm (E=0.5329 σ=0.3851)

Histogram of error in Θ Position of the Robot


8 2
Number of samples

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Y
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STD along the X axis

4.5
Standard Deviation

STD along the Y axis

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3
STD of the orientation θ

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Number of steps per translation

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