DocumentCode
2238476
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
Volume
2
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
1594
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241822
Filename
1241822
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