/velocity-motion-model

Matlab code for ideal and noisy 2D velocity motion models

Primary LanguageMATLAB

Ideal and Noisy Probabilistic 2D Velocity Motion Model

This repository gives the MATLAB implementation of the velocity motion model presented in Probabilistic Robotics (1).

[1] Thrun, S. (2002). Probabilistic robotics. Communications of the ACM, 45(3), 287. https://doi.org/10.1145/504729.504754

Ideal Velocity Motion Model

The ideal motion model implementation is presented by the function motion_model_ideal(X, u, dt) in the file titled ideal_motion_model.m

Figure below illustrates poses of the ideal motion between the initial pose x0 = (0 0 − pi/10)T and final pose for time step dt = 0.1 and number of steps N = 20.

Noisy Velocity Motion Model

The noisy motion model implementation is presented by the function motion_model_noisy(X, u, dt, noise) in the file titled noisy_motion_model.m

Three figures below illustrate samples of the noisy motion for the final pose for command u = (2 pi/4)T , time step dt = 1 and number of samples N = 300 using different noise variances.