Probabilistic models of dead-reckoning error in nonholonoxnic mobile robots
نویسندگان
چکیده
− In this paper, dead-reckoning error in mobile robots is studied in the context of several different models. These models are derived first in the form of stochastic differential equations (SDEs). Corresponding Fokker-Planck equations are derived, and desired probability density functions (PDFs) of robot pose are computed by using the Fourier transform for SE(2).
منابع مشابه
A New Approach to Self-Localization for Mobile Robots Using Sensor Data Fusion
This paper proposes a new approach for calibration of dead reckoning process. Using the well-known UMBmark (University of Michigan Benchmark) is not sufficient for a desirable calibration of dead reckoning. Besides, existing calibration methods usually require explicit measurement of actual motion of the robot. Some recent methods use the smart encoder trailer or long range finder sensors such ...
متن کاملExperimental Evaluation of a Fiber Optics Gyroscope for Improving Dead-Reckoning Accuracy in Mobile Robots
This paper presents results from the experimental evaluation of a state-of-the-art fiber-optics gyroscope. The purpose of our experiments was to evaluate the suitability of this gyroscope for enhancing dead-reckoning in mobile robots. The evaluated gyroscope was the “Autogyro Navigator” made by Andrews. For a 4×4 m square path the dead-reckoning error when using this gyro was less than ±1.2° in...
متن کاملCooperative Positioning with Multiple Robots
A number of positioning identification techniques have been used for mobile robots. Dead reckoning is a popular method, but is not reliable when a robot travels long distances or over an uneven surface because of variations in wheel diameter and wheel slippage. The landmark method, which estimates the current position relative to landmarks, cannot be used in an uncharted environment. We propose...
متن کاملThe CLAPPER: A Dual-Drive Mobile Robot with Internal Correction of Dead-Reckoning Errors
This paper presents a new approach to accurate and reliable dead-reckoning with mobile robots. The approach makes use of special properties of our recently developed Multi-Degreeof-Freedom (MDOF) mobile platform, in which two differential-drive mobile robots (called "trucks") are physically connected through a compliant linkage. Using one linear and two rotary encoders, the system can measure t...
متن کاملRobust Dead Reckoning System for Mobile Robots Based on Particle Filter and Raw Range Scan
Robust dead reckoning is a complicated problem for wheeled mobile robots (WMRs), where the robots are faulty, such as the sticking of sensors or the slippage of wheels, for the discrete fault models and the continuous states have to be estimated simultaneously to reach a reliable fault diagnosis and accurate dead reckoning. Particle filters are one of the most promising approaches to handle hyb...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2003