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dc.contributor.authorMirats-Tur, Josep M.-
dc.contributor.authorGordillo, José Luis-
dc.contributor.authorAlbores Borja, Carlos-
dc.date.accessioned2009-05-05T16:49:36Z-
dc.date.available2009-05-05T16:49:36Z-
dc.date.issued2005-10-
dc.identifier.citationIEEE Transactions on Robotics 21(5): 1017-1022 (2005)en_US
dc.identifier.issn1552-3098-
dc.identifier.urihttp://hdl.handle.net/10261/12834-
dc.description6 pages, 5 figures, 1 appendix.-- Erratum to this paper published in IEEE Transactions on Robotics 23(6): 1302 (Dec 2007), http://hdl.handle.net/10261/12835en_US
dc.description.abstractUsing 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.sponsorshipThis 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.extent222657 bytes-
dc.format.mimetypeapplication/pdf-
dc.language.isoengen_US
dc.publisherInstitute of Electrical and Electronics Engineersen_US
dc.rightsopenAccessen_US
dc.subjectLocalizationen_US
dc.subjectNavigationen_US
dc.subjectNonholonomic constraintsen_US
dc.subjectRobot positioning uncertaintyen_US
dc.subject[INSPEC] Automation::Robotsen_US
dc.subject[INSPEC] Control theoryen_US
dc.titleA closed-form expression for the uncertainty in odometry position estimate of an autonomous vehicleen_US
dc.typeartículoen_US
dc.identifier.doi10.1109/TRO.2005.852262-
dc.description.peerreviewedPeer revieweden_US
dc.relation.publisherversionhttp://dx.doi.org/10.1109/TRO.2005.852262en_US
dc.type.coarhttp://purl.org/coar/resource_type/c_6501es_ES
item.openairetypeartículo-
item.cerifentitytypePublications-
item.languageiso639-1en-
item.grantfulltextopen-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.fulltextWith Fulltext-
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