Summary: The CAS Robot Navigation Toolbox
Users Guide and Reference
Kai O. Arras, CASKTH
Version 0.9, September 2004
About This Manual
This manual is an introduction to and reference of the CAS Robot Navigation
Toolbox. It explains how to work with the delivered examples and how to import
own data. The overall structure of the toolbox is explained and the setup file,
the file which contains setting and parameters of an experiment, is introduced.
The manual's reference section explains each m-file, gives an overview of
built-in classes and functions, and illustrates their usage.
The current toolbox version includes support for differential drive robots
and the following sensory data: encoder data, range data and data from retro-
reflective beacons. It provides an odometry model for non-systematic errors in
differential drive robots, a line extraction method and an extraction method
for beacons. By its object oriented design, extensions of the toolbox are easy
to make. It is possible to add a robot class (e.g. with a synchro-drive or
Ackerman steering kinematics), a feature class (e.g. circles modeling trees, finite
line segments, corners) or a new extraction method.
Finally, this manual release is preliminary which has been published on re-