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182 Autonomous Mobile Robots

0.03

0.025

Position error (m) 0.015
0.02

0.01

0.005
0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5
Range (m)
FIGURE 4.19 Plot showing the increase of position error with range to targets and line
of best fit.
1.5

1

0.5

0
y (m)
– 0.5
– 1

– 1.5

– 2
– 1.5 – 1 – 0.5 0 0.5 1 1.5 2
x (m)

FIGURE 4.20 Localization along square path (solid line indicates true path taken and
circles are the geometric targets used for localization).

A typical set of continuous localization results are displayed in Figure 4.20.
The robot was moved one loop around a 1.57 m square at 0.2 m/sec. The laser
◦
scanner mounted on the robot has a maximum scan angle of 180 and so the
robothadtoreversealongsomeedgesofthesquareinordertomaintaintracking.

© 2006 by Taylor & Francis Group, LLC

FRANKL: “dk6033_c004” — 2006/3/31 — 16:42 — page 182 — #34