http://youtu.be/wLBwvDqBcuA?list=UU-OW0 ... 7pQNnoK4Lw
This video illustrates two dead reckoning pose estimations.
The blue robot is a differential drive robot (i.e. the ground truth). It is dynamically simulated so that wheels can slip.
The Red robot is a representation of the pose estimate based on pure odometry (data gathered from wheels rotation via "virtual" encoders.
The green robot is a representation of the pose estimate based on compass odometry. Compass odometry is using the perfect orientation reference instead of the estimate given by the wheels' encoders.
Odometry and compass odometry pose estimate comparison
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- Posts: 11
- Joined: 04 Apr 2015, 14:17
Re: Odometry and compass odometry pose estimate comparison
I wish to find the orientation of a differential drive robot. Can I do the same with a compass in vrep. Where is the compass located ?(which library I mean)
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- Posts: 11
- Joined: 04 Apr 2015, 14:17
Re: Odometry and compass odometry pose estimate comparison
The thing is I am not allowed to use simgetobjectorientation on my robot. Is there another way to get the orientation without this ? I am afraid to wheel rotation to compute the heading because I am afraid about slippage. Can you suggest me a way to do this ??
Re: Odometry and compass odometry pose estimate comparison
If you need the exact orientation, then use simGetObjectOrientation. If you need a measured orientation like on the real robot, you will have to do odometry, and/or use some other sensors to extract an orientation.
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