How to prevent lateral movement of vehicle

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Jochen Wilhelmy

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Apr 9, 2021, 3:03:28 PM4/9/21

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Hi!

If you have a vehicle with wheels equipped with position (e.g. GPS) and IMU sensors, is there a way to prevent lateral movement due to errors of the position measurement? Suppose the position sensor has an inaccuracy of several meters, then the resulting optimized trajectory has lateral movement which is impossible due to the wheels. Is it possible to remove this lateral movement with an additional factor?

Thanks,

Jochen

Maxim D.

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Apr 10, 2021, 8:53:42 AM4/10/21

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Hi Jochen,

you can do so by adding a motion model factor between the vehicle states. If you choose a motion model with additive noise, it is straight forward to implement by subclassing from the NoiseModelFactor2.