Page 173 - Introduction to Autonomous Mobile Robots

158

y Chapter 4

ρ

α

x

Figure 4.37
Extracted line from laser range measurements (+). The small lines at each measurement point repre-
sent the measurement uncertainty σ that is proportional to the square of the measurement distance.

Table 4.2
Measured values
pointing angle of sensor θ i range ρ i
[deg] [m]
0 0.5197
5 0.4404
10 0.4850
15 0.4222
20 0.4132
25 0.4371
30 0.3912
35 0.3949
40 0.3919
45 0.4276
50 0.4075
55 0.3956
60 0.4053
65 0.4752
70 0.5032
75 0.5273
80 0.4879