Probabilistic models of dead-reckoning error in nonholonomic mobile robots

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2, Issue , 2003, Pages 1594-1599

  Zhou, Yu ^a   Chirikjian, Gregory S ^a  

^a Johns Hopkins University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; DIFFERENTIAL EQUATIONS; ERROR CORRECTION; FOURIER TRANSFORMS; KINEMATICS; MOTION PLANNING; PROBABILITY DENSITY FUNCTION; PROBABILITY DISTRIBUTIONS; RANDOM PROCESSES; SPURIOUS SIGNAL NOISE; TRACKING (POSITION);

DEAD RECKONING ERROR; FOKKER-PLANCK EQUATIONS; NONHOLONOMIC MOBILE ROBOTS; ROLLING DISK; STOCHASTIC DIFFERENTIAL EQUATIONS;

MOBILE ROBOTS;

EID: 0344445585     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (17)

1. C. Tsai, "A localization system of a mobile robot by fusing dead-reckoning and ultrasonic measurements", IEEE Trans. Instrumentation and Measurement, vol.47, 1998, pp.1399-1404.
2. H. Chung, L. Ojeda, J. Borenstein, "Accurate mobile robot dead-reckoning with a precision-calibrated fiber-optic gyroscope", IEEE Trans. Robotics and Automation, vol.17, 2001, pp.80-84.
3. J. Horn, G. Schmidt, "Continuous localization of a mobile robot based on 3D-laser-range-data, predicted sensor images, and dead-reckoning", Robotics and Autonomous Systems, vol.14, 1995, pp.99-118.
4. M.V. Srinivasan, J.S. Chahl, S.W. Zhang, "robot navigation by visual dead-reckoning: inspiration for insects", Int. J. Pattern Recognition and Artificial Intelligence, vol.11, 1997, pp.35-47.
5. J.H. Kim, H.S. Cho, "An improved dead reckoning scheme for a mobile robot using neutral networks", Mechatronics, vol.3, 1993, pp.625-425.
6. J. Borenstein, "Internal correction of dead-reckoning errors with a dual-drive compliant linkage mobile robot", J. Robotic Systems, vol.12, 1995, pp257-273.
7. M. Golfarelli, D. Mario, S. Rizzi, "Correction of dead-reckoning errors in map building for mobile robots", IEEE Trans. Robotics and Automation, vol.17, 2001, pp.37-47.
8. G. Dudek, M. Jenkin, Computational Principle of Mobile Robotics, Cambridge University Press, 2000.
9. D. Fox, W. Burgard, S. Thrun, A,B. Cremers, "Position estimation for mobile robots in dynamic environments", Proc. 15th National Conf. on Artificial Intelligence (AAAI'98), 1998.
10. N. Thrun, "Finding landmarks for mobile robot navigation", Proc. IEEE Int. Conf. Robotics and Automation, 1998, pp.958-963.
11. D. Krantz, M. Gini, "Non-uniform dead-reckoning position estimate updates", Proc. IEEE Int. Conf. Robotics and Automation, 1996, pp.2061-2066.
12. C.W. Gardiner, Handbook of Stochastic Methods, 2nd Edition. Springer, 1997.
13. S. Ramakrishnan, Stochastic Analysis of Nonholonomic Dynamical Systems, MSE thesis, Johns Hopkins University, 2001.
14. R.M. Murray, Z. Li, S.S. Sastry, A Mathematical Introduction to Robotic Manipulation, CRC Press, Boca Raton, 1994.
15. G.S. Chirikjian, A.B. Kyatkin, Engineering Applications of Noncommutative Harmonic Analysis, CRC Press, Boca Raton, 2001.
16. Y. Wang, Applications of Diffusion Processes in Robotics, Optical Communications and Polymer Science, PhD dissertation, Johns Hopkins University, 2001.
17. Y. Wang, G.S. Chirikjian, "A diffusion-based algorithm for workspace generation of highly articulated manipulators", Proc. IEEE Int. Conf. Robotics and Automation, 2002, pp.1525-1530.