Probabilistic Models for Robot Motion

mode

VelocityPDF

heading θ

0

linear velocity v

2

angular velocity ω

1.57

noise parameters

α

1

0.02

α

2

0.02

α

3

0.02

α

4

0.02

α

5

0.02

α

6

0.02

A mobile robot, repeatedly commanded to move for one second with linear velocity

v

and angular velocity

ω

, will travel approximately the same distance each time. However, small random errors due to wheel slip, terrain interactions, and unmodeled dynamics mean that the robot's expected final position is better described as a probability density function (PDF). This Demonstration implements four probabilistic motion models [1], allowing you to modify noise parameters and see their effect. The initial pose is shown in green and the final pose in red; the position and the heading of the robot are indicated by a circle and a line, respectively.