Tham khảo tài liệu 'mobile robots perception & navigation part 7', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Comparative Analysis of Mobile Robot Localization Methods Based On Proprioceptive and Exteroceptive Sensors 231 The room has been modelled very carefully permitting a precise evaluation of the distance and angle errors between the final position and the corresponding configuration estimated by the Algorithm 4 Table 5 resumes these results. final position Alg 4 error AỚ Table 5. Estimation distance errors in meters and corresponding angular errors in degrees . In order to investigate further the efficiency of the developed Algorithm 4 and to evaluate its correction performances it has been imposed a wrong initial position see Table 6 and Fig. 8 . error of initial position error of final position error A0 Table 6. Distance in meters and angle in degrees errors introduced on the initial position and corresponding errors on the final position. Fig. 8. Estimated trajectory with a wrong initial positioning. As a result it has been seen that the Algorithm 4 is able to correct possible errors on the initial positioning as confirmed by the results reported in Table 6. Comments As shown by the developed experimental tests see Table 4 Algorithm 4 permits to obtain a much more reliable and accurate positioning than that one obtained by Algorithm 3. Note that estimation errors on the final position of the Algorithm 3 are due to the angle drift introduced by the gyroscope. Additionally Algorithm 4 improves the positioning accuracy in spite of a wrong initial positioning. Table 6 shows as the possible errors introduced by a wrong initial pose have been efficiently corrected by the Extended Kalman Filter. 232 Mobile Robots Perception Navigation 5. Concluding remarks This chapter has presented a concise look at the problems and methods relative to the mobile robot localization. Both the relative and absolute approaches have been discussed. Relative localization has the main advantage of using a sensor equipment which is totally self-contained
