A Data Set for Research on Data-based Methods for an Omnidirectional Mobile Robot (ICPSR doi:10.18419/darus-1845)

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Document Description

Citation

Title:

A Data Set for Research on Data-based Methods for an Omnidirectional Mobile Robot

Identification Number:

doi:10.18419/darus-1845

Distributor:

DaRUS

Date of Distribution:

2021-05-21

Version:

1

Bibliographic Citation:

Eschmann, Hannes, 2021, "A Data Set for Research on Data-based Methods for an Omnidirectional Mobile Robot", https://doi.org/10.18419/darus-1845, DaRUS, V1

Study Description

Citation

Title:

A Data Set for Research on Data-based Methods for an Omnidirectional Mobile Robot

Identification Number:

doi:10.18419/darus-1845

Authoring Entity:

Eschmann, Hannes (Universität Stuttgart)

Grant Number:

390740016

Distributor:

DaRUS

Access Authority:

Eschmann, Hannes

Access Authority:

Eberhard, Peter

Depositor:

Eschmann, Hannes

Date of Deposit:

2021-05-10

Study Scope

Keywords:

Engineering, robotics, mobile robots, regression, omnidirectional robots

Abstract:

The intend of this data set is the cooperation within SimTech. It will be particularly interesting for data-based modeling and control which is a key area of the research of project network 4. We are proud to provide real-world data, which is essential for the benchmark of any data-based method. Additionally, we are able to provide reference solutions in order to evaluate the predictive quality of the methods tested. Finally, an example on how this data set can be used with Gaussian process (GP) regression in order to predict the systematic mismatches of the mobile robot is given. The data set contains input-output data of an omnidirectional mobile robot. The inputs to the mobile robots are the desired speeds in the plane as well as an angular velocity of the robot around its vertical axis. The corresponding outputs are the position in the plane and the robots orientation in an inertial frame of reference. The data set is provided in the Matlab *.mat format.

Methodology and Processing

Sources Statement

Data Access

Notes:

CC BY Waiver

Please specify the intended use of this data set.

Other Study Description Materials

Other Study-Related Materials

Label:

documentation.pdf

Text:

a short introduction into the training data and its purpose

Notes:

application/pdf

Other Study-Related Materials

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messung1.mat

Text:

training data set 1

Notes:

application/matlab-mat

Other Study-Related Materials

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messung2.mat

Text:

training data set 2

Notes:

application/matlab-mat

Other Study-Related Materials

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README.txt

Notes:

text/plain

Other Study-Related Materials

Label:

reference.mat

Text:

reference data (figure eight trajectory)

Notes:

application/matlab-mat