2022 IB Diploma Extended Essays

represent the robot turning to make a turn however the smaller changes in yaw represent the robot correcting itself in terms of the path to reach it’s goal. This needs to be normalized in order to show the peaks. Hector slam has steep short peaks in relation to time, which highlights it’s robustness for autonomous navigation as it doesn’t need to correct itself dramatically in order to reach it’s goal. It also demonstrates the corrections that the robot makes are quick The x(t) and y(t) graphs highlight the changes in x and y coordinates in relation to time. The peaks shows the the robot making a turn in the x and y coordinates. The smaller gradients within the graph shows the robot correcting itself to meet it’s path. Hector slam is able to make changes quickly with little pose error shown by the trajectory. ORB SLAM Pose Data

Though the stereo camera has been calibrated making it possible to get ORB SLAM pose information. The main problem is that this approach isn’t quite robust to the fast rotation, but it does provide information about a straight line movement.