Probabilistic Models of Sensing and Movement

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Probabilistic Models of Sensing and Movement

• Move to probability models of sensing and
  movement
• Project 2 is about complex behavior using sensing
• Sensor interpretation is difficult simple
  interpretation in this section
• Artifacts goal-directed motion and reactive
  behaviors
• Lectures
• Probabilistic sensor models
• Probabilistic representation of uncertain
  movement
• Particle filter implementation
• Project
• PF for motion model
• Markov localization with PF
• Stretch feature-based localization

Slides thanks to Steffen Gutmann
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Robot Motion

• Robot motion is inherently uncertain.
• How can we model this uncertainty?

3
Dynamic Bayesian Network for Controls, States,
and Sensations
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Probabilistic Motion Models

• To implement the Bayes Filter, we need the
  transition model p(x x, u).
• The term p(x x, u) specifies a posterior
  probability, that action u carries the robot from
  x to x.
• In this section we will specify, how p(x x,
  u) can be modeled based on the motion equations.
• We concentrate on wheel-based robots for legged
  ones, similar equations hold.

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Coordinate Systems

• In general the configuration of a robot can be
  described by six parameters.
• Three-dimensional Cartesian coordinates plus
  three Euler angles pitch, roll, and tilt.
• Throughout this section, we consider robots
  operating on a planar surface.

• The state space of such systems is
  three-dimensional (x,y,?).

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Typical Motion Models

• In practice, one often finds two types of motion
  models
• Odometry-based
• Velocity-based (dead reckoning)
• Odometry-based models are used when systems are
  equipped with encoders that can measure the
  actual path traveled.
• Velocity-based models have to be applied when no
  encoders are given.
• They calculate the new pose based on the
  velocities and the time elapsed.

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Example Wheel Encoders

• These modules require 5V and GND to power them,
  and provide a 0 to 5V output. They provide 5V
  output when they "see" white, and a 0V output
  when they "see" black.

These disks are manufactured out of high quality
laminated color plastic to offer a very crisp
black to white transition. This enables a wheel
encoder sensor to easily see the transitions.
Source http//www.active-robots.com/
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Dead Reckoning

• Derived from deduced reckoning.
• Mathematical procedure for determining the
  present location of a vehicle.
• Achieved by calculating the current pose of the
  vehicle based on its velocities and the time
  elapsed, over small time intervals

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Reasons for Motion Errors
and many more
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Odometry Model

• Robot moves from to .
• Odometry information .

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The atan2 Function

• Extends the inverse tangent and correctly copes
  with the signs of x and y.

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Noise Model for Odometry

• The measured motion is given by the true motion
  corrupted with noise.

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Variances and Deviations

• For independent errors, variances add.
• If errors are specified using std, the length
  over which the error occurs must be given
• 6 cm in 1 m gt 36 cm2 in 1 m
• 3 deg in 360 deg gt 9 deg2 in 360 deg
• Consider to
  specify a variance

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Typical Distributions for Probabilistic Motion
Models
Normal distribution
Triangular distribution
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Calculating the Posterior given x, x, and u

1. Algorithm motion_model_odometry(x,x,u)
11. return p1 p2 p3

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Application

• Typical banana-shaped distributions obtained for
  2d-projection of 3d posterior.

p(xu,x)
x
x
u
u