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dc.contributor.author | Mirats-Tur, Josep M. | - |
dc.contributor.author | Gordillo, José Luis | - |
dc.contributor.author | Albores Borja, Carlos | - |
dc.date.accessioned | 2009-05-05T16:49:36Z | - |
dc.date.available | 2009-05-05T16:49:36Z | - |
dc.date.issued | 2005-10 | - |
dc.identifier.citation | IEEE Transactions on Robotics 21(5): 1017-1022 (2005) | en_US |
dc.identifier.issn | 1552-3098 | - |
dc.identifier.uri | http://hdl.handle.net/10261/12834 | - |
dc.description | 6 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 | en_US |
dc.description.abstract | Using 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. | en_US |
dc.description.sponsorship | This work was supported in part by Consejo Nacional de Ciencia y Tecnología (CONACyT) under Grant 35396, in part by the Franco-Mexican Laboratory for Informatics (LaFMI), and in part by the Spanish Superior Council for Scientific Research (CSIC). | en_US |
dc.format.extent | 222657 bytes | - |
dc.format.mimetype | application/pdf | - |
dc.language.iso | eng | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers | en_US |
dc.rights | openAccess | en_US |
dc.subject | Localization | en_US |
dc.subject | Navigation | en_US |
dc.subject | Nonholonomic constraints | en_US |
dc.subject | Robot positioning uncertainty | en_US |
dc.subject | [INSPEC] Automation::Robots | en_US |
dc.subject | [INSPEC] Control theory | en_US |
dc.title | A closed-form expression for the uncertainty in odometry position estimate of an autonomous vehicle | en_US |
dc.type | artículo | en_US |
dc.identifier.doi | 10.1109/TRO.2005.852262 | - |
dc.description.peerreviewed | Peer reviewed | en_US |
dc.relation.publisherversion | http://dx.doi.org/10.1109/TRO.2005.852262 | en_US |
dc.type.coar | http://purl.org/coar/resource_type/c_6501 | es_ES |
item.openairetype | artículo | - |
item.cerifentitytype | Publications | - |
item.languageiso639-1 | en | - |
item.grantfulltext | open | - |
item.openairecristype | http://purl.org/coar/resource_type/c_18cf | - |
item.fulltext | With Fulltext | - |
Aparece en las colecciones: | (IRII) Comunicaciones congresos |
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Closed-form_expression.pdf | 217,44 kB | Adobe PDF | Visualizar/Abrir |
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