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Halmstad University - For the Development of Organisations, Products and Quality of Life

Exercises

Guidelines for writing reports

The Guidelines is available in either PDF PDF

(pdf, 8 kB) or Word Word

(word, 28 kB) format.

Exercise 1

Exercise 1 - GPS (Static and mobile receiver).

Important links:
Global Positioning System Data Processing external link
Longitude and Latitude Conversion

Exercise 2

Exercise 2 - Motion models, position estimates and uncertainty of position estimates Khepera mini robot (Differential drive), Snowhite (Three-wheeled robot).

Exercise 3

Exercise 3 - External sensor information and extraction of features (Snowhite - Laser).
Additional material - videos illustrating exercise #3 and #4 (each file is approximate 6.5Mbytes).
Robot's laser readings during a run (the position estimates are based on dead reckoning only)
Robot's position estimates are based on dead reckoning only
Robot's position estimates are based on dead reckoning and simulated position fixes (small errors)
Robot's position estimates are based on dead reckoning and simulated position fixes (small errors) which are fused in a Kalman filter
Robot's position estimates are based on dead reckoning and simulated position fixes (large errors) which are fused in a Kalman filter

Exercise 4

Exercise 4 - Same as Exercise 3 Sensor fusion (Kalman Filter).

Exercise 5

(voluntary exercise)
Exercise 5 - Sensor fusion (Extended Kalman filter).
Before the exercise, you should read the paper which you can downlload as a pdf-file at Mathematical Foundations of Navigation and Perception For an Autonomous Mobile Robot. external link, opens in new window