Problem 44838. Pose from bearing angles in 2D

Created by Peter Corke

Solve Later

{"relationships":[{"relationshipType":"http://schemas.mathworks.com/matlab/code/2013/relationships/document","targetMode":"","relationshipId":"rId1","target":"/matlab/document.xml"},{"relationshipType":"http://schemas.mathworks.com/matlab/code/2013/relationships/output","targetMode":"","relationshipId":"rId2","target":"/matlab/output.xml"}],"parts":[{"partUri":"/matlab/document.xml","relationship":[],"contentType":"application/vnd.mathworks.matlab.code.document+xml","content":"<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n<w:document xmlns:w=\"http://schemas.openxmlformats.org/wordprocessingml/2006/main\"><w:body><w:p><w:pPr><w:pStyle w:val=\"text\"/></w:pPr><w:r><w:t>A robot moving on the plane has a sensor that measures the bearing angle to two mapped landmarks, that is, the world frame coordinates of the landmarks are known and represented by position vectors</w:t></w:r><w:r><w:t> </w:t></w:r><w:r><w:rPr><w:rFonts w:cs=\"monospace\"/></w:rPr><w:t>P1</w:t></w:r><w:r><w:t> and</w:t></w:r><w:r><w:t> </w:t></w:r><w:r><w:rPr><w:rFonts w:cs=\"monospace\"/></w:rPr><w:t>P2</w:t></w:r><w:r><w:t> . The bearing angles to the landmarks, with respect to the x-axis of the robot's coordinate frame are</w:t></w:r><w:r><w:t> </w:t></w:r><w:r><w:rPr><w:rFonts w:cs=\"monospace\"/></w:rPr><w:t>th1</w:t></w:r><w:r><w:t> and</w:t></w:r><w:r><w:t> </w:t></w:r><w:r><w:rPr><w:rFonts w:cs=\"monospace\"/></w:rPr><w:t>th2</w:t></w:r><w:r><w:t> respectively. The robot's forward direction is parallel to its x-axis and its heading angle, with respect to magnetic north is</w:t></w:r><w:r><w:t> </w:t></w:r><w:r><w:rPr><w:rFonts w:cs=\"monospace\"/></w:rPr><w:t>thb</w:t></w:r><w:r><w:t> .</w:t></w:r></w:p><w:p><w:pPr><w:pStyle w:val=\"text\"/></w:pPr><w:r><w:t>Determine the pose of the robot expressed as a homogeneous transformation matrix with respect to the world coordinate frame. In surveying this is known as a resection problem.</w:t></w:r></w:p></w:body></w:document>"},{"partUri":"/matlab/output.xml","contentType":"text/xml","content":"<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"no\" ?><embeddedOutputs><metaData><evaluationState>manual</evaluationState><layoutState>code</layoutState><outputStatus>ready</outputStatus></metaData><outputArray type=\"array\"/><regionArray type=\"array\"/></embeddedOutputs>"}]}

Solve

Solution Stats

90 Solutions
15 Solvers

Last Solution submitted on Nov 25, 2021

Last 200 Solutions

Problem Comments

Problem Recent Solvers15

Problem Tags

homogeneous transformation resection

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Problem 44838. Pose from bearing angles in 2D

Solution Stats

Last 200 Solutions

Problem Comments

Problem Recent Solvers15

Suggested Problems

More from this Author16

Problem Tags

Community Treasure Hunt

Problem 44838. Pose from bearing angles in 2D

Solution Stats

Last 200 Solutions

Problem Comments

Problem Recent Solvers15

Suggested Problems

More from this Author16

Problem Tags

Community Treasure Hunt

Players