Ute Modelling Information

Motion Model

We are using an Ackerman Model:

Now, if we translate our model to the gps and laser point, let us call this point.

The velocity �is measured with an encoder locate in the back left wheel. This velocity is translated to the center of the axle with the following equation:

For our vehicle:

Finally the discrete model in global coordinates can be approximated with the following set of equations:

Figure 1: Vehicle kinematics

Observation Model

Observation model for range and bearing sensor:

Figure 2: Vehicle and Laser sensor

Appendix A

A.1 Motion Model Jacobians:

A.2 Observation Model Jacobians:

For the Slam case, where the state vector is the vehicle posse and beacons position:

Appendix B

Ute Dimensions:

2 Sensors

2.1 Sensors available in the Ute

Dead Reckoning:

Velocity Encoder and Steering angle

Inertial Measument Unit: 3 accel / 3 gyros / 2 inclinometers ( Watson Unit )

External Sensors:

GPS

Laser

Vision