Title :
Probabilistic models of dead-reckoning error in nonholonomic mobile robots
Author :
Zhou, Yu ; Chirikjian, Gregory S.
Author_Institution :
Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD, USA
Abstract :
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).
Keywords :
Fokker-Planck equation; Fourier transforms; differential equations; error analysis; mobile robots; position control; probability; stochastic processes; Fokker-Planck equations; Fourier transform; dead reckoning error; nonholonomic mobile robots; probabilistic models; probability density functions; robot pose; stochastic differential equations; Axles; Differential equations; Kinematics; Mobile robots; Spinning; Stochastic processes; Wheels;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241822
