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Autoregressive Noise

GitHub
GazeboC++RoboticsSimulationControl Systems

TLDR

Gazebo plugin that injects realistic noise into differential drive robot wheel encoders. Simulates sensor drift and slippage.

Detailed

Tech Stack:

Gazebo, C++

Goal:

Add realistic noise to robot simulations to improve control algorithm robustness.

What I did:

  • •Built Gazebo plugin for differential drive robots
  • •Injected autoregressive noise into wheel encoder measurements
  • •Simulated drift and lateral slippage on inclined/uneven surfaces

What was achieved:

Helps developers test navigation and localization algorithms with realistic sensor uncertainties.