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450

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600

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30
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Error (in degrees)

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


1.5

Error (in degrees)

0.5

0.5

1.5

2
50

40

30

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0
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Rotation angle (in degrees)

20

30

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6

5
Number of samples

Number of samples

Histogram of Error (E=0.0882 =0.0962)


10

6
4
2

4
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1

0
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0
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Error in degrees (Carpet 1)

0
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12

10

10

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6
4
2
0

Histogram of Error (E=0.7484 =0.1477)

12
Number of samples

Number of samples

Histogram of Error (E=0.5296 =0.2143)

1
1.5
Error in degrees (Plastic 1)

8
6
4
2

0.5
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0.5
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Histogram of Error (E=0.4557 =0.1334)

Histogram of Error (E=1.7205 =0.2564)

12

10

0
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0
Error in degrees (Carpet 1)

0
2.5

0.2

Histogram of Error (E=0.8371 =0.1042)

2
1.5
Error in degrees (Plastic 1)

Histogram of Error (E=0.9922 =0.1654)

10

7
6

5
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3
2

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0
1

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0.8
0.6
0.4
Error in degrees (Carpet 2)

0
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Error distribution from intended angle (90)

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Histogram of error in X

Histogram of error in Y

30

25

25

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15
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10
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5

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0
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0
1
Error in cm (E=0.0924 =0.7906)

0
2

Histogram of error in

1
0
1
Error in cm (E=0.3422 =0.6201)

Position of the Robot

30

25
1
20
Y

15

10
1
5
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Histogram of error in Y

5
Number of samples

Number of samples

6
5
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1
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1
2
3
Error in cm (E=2.4488 =0.9003)

4
3
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1
0

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1
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Error in cm (E=0.9771 =0.4167)

Histogram of error in

Position of the Robot

3
0

Number of samples

2
1

1
0
0.5

1
Error in cm (E=1.0867 =0.1810)

2
105

1.5

110

115
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120

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Histogram of error in Y

10

Number of samples

10

Number of samples

12

8
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1
0
Error in cm (E=1.4318 =0.8155)

0
1

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0
0.5
1
Error in cm (E=0.5329 =0.3851)
Position of the Robot

Number of samples

Histogram of error in

0
0.5

1.5

2
105

0
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1
1.5
Error in degrees (E=0.6308 =0.2508)

110

115
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Average values of the std along the X,Y, during translation


5.5

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STD along the X axis

Standard Deviation

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STD along the Y axis
3.5

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STD of the orientation

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10
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Number of steps per translation

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