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

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.

本数据集旨在促进SimTech内部的协作。对于基于数据的建模与控制而言，该领域乃项目网络4研究的关键区域，本数据集将极具研究价值。我们自豪地提供真实世界的数据，这对于任何基于数据方法的基准测试至关重要。此外，我们还能提供参考解决方案，以便评估测试方法的预测质量。最后，本数据集展示了如何与高斯过程（Gaussian process，简称GP）回归相结合，以预测移动机器人系统的系统性偏差。该数据集包含全向移动机器人的输入-输出数据。移动机器人的输入包括其在平面上的期望速度以及绕其垂直轴的角速度。相应的输出包括平面内的位置和机器人在惯性参考系中的姿态。数据集以Matlab的*.mat格式提供。