pool clean
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X
Y
WORLD
bumpers
sonars
sensors - processing - navigation - actuation
MAP
PC
fusion control
ro
bot
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sonarbe
am
robot
robot
robotwall wall
wall
a) b)
c)
is the angle representingthe direction of the robot
d is the distance betweenthe pool-cleaner and the wall
d
Y-axis
X-axis
X
Y
orientation:
angle
20 40 60 80 100 120 140 1600.2
0.1
0
0.1
0.2
0.3
0.4
0.5Control algorithm
iteration
error [meters]
correction [Sec.]
[Radians]
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Y
X
dx
dy
angle
angle
+
R S
HKF
+
-
+
+
u xx ref
KF = Kalman Filter H = measure channel matrix
= random disturbance of the dynamic system
= additive white noise of the measurement system
w
n
w
n
20 40 60 80 100 120 140 1600.2
0.1
0
0.1
0.2
0.3
0.4
0.5Sonar measures
iteration
error[m]
20 40 60 80 100 120 140 1600.2
0.1
0
0.1
0.2
0.3
0.4
0.5State estimation
iteration
error [meters]
[Radians]
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20 40 60 80 100 120 140 160150
100
50
0
50
100
150Correction
iteration
time[msec.]
20 40 60 80 100 120 140 1600.2
0.1
0
0.1
0.2
0.3
0.4
0.5Real veichle position
iteration
error[m]
0 500 1000 1500 2000 2500 3000 3500 40000
1
2
3
4
5
6
7
8Sonardata
Iteration
Meters
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0 50 100 150 200 2500
10
20
30
40
50
60
70
80Robot path
DeciMeters
DeciMeters
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