recursive bayes filters and related models for mobile robots
TRANSCRIPT
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Recursive Bayes Filters and
related modelsfor
mobile robots
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Recursive Bayes Filters
We will briefly review our derivation of Bayes filter from one of previous lectures first.
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Two steps of Bayes filter:
Prediction and Correction
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Two steps of Bayes filter: Prediction and Correction
• Use measurement to correct
controlFrom odometry and equations of motion
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• Both the prediction step and the correction step use the following:–Motion model–Sensor or observation model
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Formulas from previous slide
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Different Realizations of Bayes Filters
• Recursive filters
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Main Approaches to Bayes Filters
• Similar methods based on Bayesian probability, networks, and evolutionary algorithms also exist
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Probabilistic Motion Models
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Using only odometry in long run is definitely wrong
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Explain the meaning
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• In past we used velocity models for simple Braintenberg Vehicles• For MCECSBOT we will have to use perhaps the odometry-based
model
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Motion Model based on ODOMETRY
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Motion Model for a robot based on ODOMETRY
• This model will be more complicated for OMNI and MECCANO WHEELS
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Probability Distribution in Motion Model for a robot based on ODOMETRY
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Examples of Odometry-Based noise
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Velocity Based Motion Models
for a robot
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• It is easy to derive such model for a two-wheeled robot• We have done it as part of kinematics explanation in Fall quarter (for non-deterministic case).
Velocity Based Motion Models for a robot
Explain the meaning
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Motion Equation for Velocity Based Motion Models for a robot
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• We add an additional noise term now.
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• Here we fix the problem outlined in the previous slide
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Moving on circles
The dark clouds represent probability density
The dots represent samples of probability
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SensorModels
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Sensor model for Laser Scanners
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• You do not need to know too much if you are small and only want to move straight ahead
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Ray Cast Sensor Model
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Feature-based Model for Range-Bearing Sensors
error
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Summary• Bayes Filter is a framework for state estimation
• Motion model and sensor model are the central models in Bayes Filter
• These are all standard models for:– Robot motion– Laser-based range sensing– Similar sensors
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