Localization of the robot SAUC’ISSE
with interval analysis

SAUC’ISSE (SAUCe Interval Super Submarine of Ensieta) is a robot made at ENSIETA by students to participate to the SAUCE competition.

Movie of Sauc’isse taken by an underwater camera at the swimming pool of GESMA.

Experiment E

The robot is moving inside the swimming pool of GESMA. The trajectory of the robot is a loop similar the letter e.

Movie of Sauc’isse for the experiment.

Data available for the localization.

List of jpg pictures made by an interval localization method. The pool is rectangular (9m x 5m). The three frames on the left are (i) the projection on the x-y space of the 4-dimensional feasible set for the state vector, (ii) the estimation of the position of the robot, and (iii) the filtered sonar data.

Movie made from all these jpg pictures.

Results obtained by the interval localization method (txt file).

Experiment I.I.

The robot is moving inside the swimming pool of GESMA. The trajectory of the robot corresponds to two tracks.

Movie of Sauc’isse for the experiment.

Data available for the localization.

Movie corresponding to the results obtained by the interval localization method. The pool is rectangular (9m x 5m). The three frames on the left are (i) the projection on the x-y space of the 4-dimensional feasible set for the state vector, (ii) the estimation of the position of the robot, and (iii) the filtered sonar data.

Results obtained by the interval localization method (txt file).

Movie taken by the camera below the robot.

Full C++ code Borland, Builder 5.

Experiment 3

Download a simulation example where the robot is inside a polygonal pool with one circle. The robot uses an interval localization to control its trajectory.

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