Bachelor final thesis on "Odometry and Localization estimation of a mobile robot with multiple swivel wheels"
CONTACT ME FOR THE DATA! (the .mat datafiles are too large/cumbersome for github and I don't want to host)
J.P.M. Verhagen
BEP: Odometry and localization esitmation of a mobile robot with multiple
swivel wheels
Written on: 27-01-2019
This file explains the files and folders that are seen here.
FOLDERS:
detailed_figures: Includes images, plotting script, and measurement data
measurement_data: Includes measurement data on different floor types of both the LKF framework, the encoder mapping, and the Jupiter sensor
models_and_calculations: includes all the calculations that are made for this framework. Includes measurement mapping computation for
imu and wheel encoders, analysis of IMU noise, drift, and covariance.
real_time_running: Includes files and folders which are used to run code on the RoPod and to run the Jupiter in a real-time Simulink environment.
Opening "run_jupiter_real_time.slx" in "running_jupiter" provides this Simulink environment. This folder is also accompanied with measurement
data of only the Jupiter sensor used in Chapter 6 of the report.
FILES:
all_wheel_out_data.mat: data from all smart wheels
bGbAtheta.mat: realignment of gyroscope, accelerometer in format: Bias gyro, Bias acc, offset angle theta (see Chapter 5 of the report)
bias_complex.m: computes bias of gyroscope and accelerometer and the offset angle of the IMU
bias_simple.m: computes just the bias of the gyroscope and accelerometer
datarun_final.slx: final LKF framework
ec_structdata.txt: file explaining layout of all_wheel_out_data.mat
global_positioning_results.m: plots results of estimation of all three methods
measurement_data.xlsx: results of all experiments in Excel table
new_bias.m: simple way of calculating the bias of the gyro and the IMU
odom_robot_pose.mat: computed pose by the encoder mapping
odom_robot_twist.mat: computed twist/velocities by the encoder mapping
optimization_kf1.mat: optimizes scaling factor R_mult for 1st LKF
optimization_kf2.mat: optimizes scaling factors R_wheel and R_imu for 2nd LKF