ROS Answers: Open Source Q&A Forum - RSS feedhttps://answers.ros.org/questions/Open source question and answer forum written in Python and DjangoenROS Answers is licensed under Creative Commons Attribution 3.0Mon, 24 Jul 2017 08:01:24 -0500Extended Kalman filter localisationhttps://answers.ros.org/question/267092/extended-kalman-filter-localisation/Hey guys, I am doing mobile robot localisation as a project. Now I stuck in obtaining the equations of EKF localisation. My robot moves straight for 10 seconds parallel to x-axis and robot equipped with 2 sonars - in front and in right side. As a landmark I have two lines/obstacles in front of the robot and on the right side parallel to x-axis. Could you please help me to obtain the equations?! The map looks like this:
____________|
The robot is in the origin (0, 0), the landmark line parallel to X-axis coordinate is y=-2000mm, the landmark parallel to y-axis is x=4000. I already implemented the motion-based control which returns estimated pose of the robot and covariance matrix. The estimated pose of the robot is given by S=[Sx, Sy, Sth]. What is the matrix form of my observation model Jacobian matrix which is, I quess, is linear. Thanks in advance.Fri, 21 Jul 2017 19:00:24 -0500https://answers.ros.org/question/267092/extended-kalman-filter-localisation/Comment by marcoarruda for <p>Hey guys, I am doing mobile robot localisation as a project. Now I stuck in obtaining the equations of EKF localisation. My robot moves straight for 10 seconds parallel to x-axis and robot equipped with 2 sonars - in front and in right side. As a landmark I have two lines/obstacles in front of the robot and on the right side parallel to x-axis. Could you please help me to obtain the equations?! The map looks like this:</p>
<p>____________|
The robot is in the origin (0, 0), the landmark line parallel to X-axis coordinate is y=-2000mm, the landmark parallel to y-axis is x=4000. I already implemented the motion-based control which returns estimated pose of the robot and covariance matrix. The estimated pose of the robot is given by S=[Sx, Sy, Sth]. What is the matrix form of my observation model Jacobian matrix which is, I quess, is linear. Thanks in advance.</p>
https://answers.ros.org/question/267092/extended-kalman-filter-localisation/?comment=267236#post-id-267236I agree, it's not a question about ROS. But if you want to use some package to handle the EKF for you, there's this one:
http://wiki.ros.org/robot_localization
http://www.ros.org/news/2016/06/tom-moore-working-with-the-robot-localization-package.htmlMon, 24 Jul 2017 08:01:24 -0500https://answers.ros.org/question/267092/extended-kalman-filter-localisation/?comment=267236#post-id-267236Comment by ROSkinect for <p>Hey guys, I am doing mobile robot localisation as a project. Now I stuck in obtaining the equations of EKF localisation. My robot moves straight for 10 seconds parallel to x-axis and robot equipped with 2 sonars - in front and in right side. As a landmark I have two lines/obstacles in front of the robot and on the right side parallel to x-axis. Could you please help me to obtain the equations?! The map looks like this:</p>
<p>____________|
The robot is in the origin (0, 0), the landmark line parallel to X-axis coordinate is y=-2000mm, the landmark parallel to y-axis is x=4000. I already implemented the motion-based control which returns estimated pose of the robot and covariance matrix. The estimated pose of the robot is given by S=[Sx, Sy, Sth]. What is the matrix form of my observation model Jacobian matrix which is, I quess, is linear. Thanks in advance.</p>
https://answers.ros.org/question/267092/extended-kalman-filter-localisation/?comment=267161#post-id-267161I think this question doesn't have to do with ROS!!Sun, 23 Jul 2017 09:34:57 -0500https://answers.ros.org/question/267092/extended-kalman-filter-localisation/?comment=267161#post-id-267161