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Are the turtlesim examples of moving in a straight line and rotating considered dead-reckoning?

asked 2018-04-28 07:54:20 -0500

nbro
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updated 2018-04-28 08:20:56 -0500

I am not yet very familiar with the concepts in robotics. However, it seems to me that the examples described at http://wiki.ros.org/turtlesim/Tutorials/Moving%20in%20a%20Straight%20Line and http://wiki.ros.org/turtlesim/Tutorials/Rotating%20Left%20and%20Right are examples of dead-reckoning, given that we are basically estimating the traveled distance and the turned angle based respectively on an assumed linear and angular speeds and given a certain time has passed.

Is this correct?

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answered 2018-04-28 08:19:31 -0500

PeteBlackerThe3rd

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Yes, you are correct. This simple simulation assumes the turtle bots have perfect knowledge of their linear and angular velocities, so they can integrate these in time to determine their location.

In real world robotics proprioceptive localisation systems such as wheel odometry or IMU odometry would also be examples of dead reckoning. These methods are both based on estimating velocity which can be integrated to determine a location relative to the starting point.