10.18419/darus-1845Eschmann, HannesHannesEschmann0000-0001-8924-1908Universität StuttgartA Data Set for Research on Data-based Methods for an Omnidirectional Mobile RobotDaRUS2021Engineeringroboticsmobile robotsregressionomnidirectional robotsEschmann, HannesHannesEschmannUniversität StuttgartEberhard, PeterPeterEberhardUniversität Stuttgart2021-05-102021-05-2123361787729567637161047160817application/pdfapplication/matlab-matapplication/matlab-mattext/plainapplication/matlab-mat1.0CC BY WaiverThe 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.Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) under Germany's Excellence Strategy - EXC 2075390740016