Unit 1: Mobile Robot Localisation

Question 1

Localisation

Answer 1

Tries to answer the question of how a mobile robot can know where it is in any given environment.

Question 2

Pose

Answer 2

The location and rotation of the robot.

Question 3

Dead reckoning

Odometry

Answer 3

The process the robot uses to calculate its current position, using a previously determined position and estimated speeds over an elapsed time.

Question 4

Localisation algorithms

Answer 4

Enable a robot to estimate its pose, or localise, in a given map as accurately as possible in the face of all uncertainties.

Question 5

4 main sources of uncertainty for a robot’s location

Answer 5

• Initial pose uncertainty
• Effector noise
• Sensor noise
• Sensor aliasing

Question 6

4 main sources of uncertainty for a robot’s location

Initial pose uncertainty

Answer 6

It’s not easy to know a robot’s start pose in the environment

Question 7

4 main sources of uncertainty for a robot’s location

Sensor noise

Answer 7

Errors that your sensor makes

Question 8

4 main sources of uncertainty for a robot’s location

Sensor aliasing

Answer 8

When the environment looks similar from different positions.