2022 IB Diploma Extended Essays

The first graph highlights the trajectory taken by the robot when implemented with Hector Slam. What can be shown through the trajectory is that the robot is following it’s path correctly with small errors. The pose estimation of the robot shows that it makes errors when moving in straight line and takes unnecessary movements, though small. when taking a turn to reach it’s goal, highlighted by through the changes in the trajectory which represents the changes in the x and y coordinates. They yaw shows the changes in the yaw axis in relation to time, this is needed for the robot to reconstruct the scene, as it needs to rotate for reconstruction. The high peaks within the graph