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