English   español  
Por favor, use este identificador para citar o enlazar a este item: http://hdl.handle.net/10261/12834
Compartir / Impacto:
Estadísticas
Add this article to your Mendeley library MendeleyBASE
 |  Ver citas en Google académico
Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL
Título

A closed-form expression for the uncertainty in odometry position estimate of an autonomous vehicle

AutorMirats-Tur, Josep M. ; Gordillo, José Luis; Albores Borja, Carlos
Palabras claveLocalization
Navigation
Nonholonomic constraints
Robot positioning uncertainty
[INSPEC] Automation::Robots
[INSPEC] Control theory
Fecha de publicaciónoct-2005
EditorInstitute of Electrical and Electronics Engineers
CitaciónIEEE Transactions on Robotics 21(5): 1017-1022 (2005)
ResumenUsing internal and external sensors to provide position estimates in a two-dimensional space is necessary to solve the localization and navigation problems for a robot or an autonomous vehicle (AV). Usually, a unique source of position information is not enough, so researchers try to fuse data from different sensors using several methods, as, for example, Kalman filtering. Those methods need an estimation of the uncertainty in the position estimates obtained from the sensory system. This uncertainty is expressed by a covariance matrix, which is usually obtained from experimental data, assuming, by the nature of this matrix, general and unconstrained motion. We propose in this paper a closed-form expression for the uncertainty in the odometry position estimate of a mobile vehicle, using a covariance matrix whose form is derived from the cinematic model. We then particularize for a nonholonomic Ackerman driving-type AV. Its cinematic model relates the two measures being obtained for internal sensors: the velocity, translated into the instantaneous displacement; and the instantaneous steering angle. The proposed method is validated experimentally, and compared against Kalman filtering.
Descripción6 pages, 5 figures, 1 appendix.-- Erratum to this paper published in IEEE Transactions on Robotics 23(6): 1302 (Dec 2007), http://hdl.handle.net/10261/12835
Versión del editorhttp://dx.doi.org/10.1109/TRO.2005.852262
URIhttp://hdl.handle.net/10261/12834
DOI10.1109/TRO.2005.852262
ISSN1552-3098
Aparece en las colecciones: (IRII) Comunicaciones congresos
Ficheros en este ítem:
Fichero Descripción Tamaño Formato  
Closed-form_expression.pdf217,44 kBAdobe PDFVista previa
Visualizar/Abrir
Mostrar el registro completo
 


NOTA: Los ítems de Digital.CSIC están protegidos por copyright, con todos los derechos reservados, a menos que se indique lo contrario.