Publication

Evaluating the Odometry Error of a Mobile Robot

2002
Conference Papers

Abstract

This paper focuses on issues of odometry for the special case of synchronous drive wheeled mobile robots. In particular, the uncertainty in odometry is modeled by a four parameter statistical model already introduced in previous works together with a strategy to estimate the four parameters from actual data obtained from a given mobile robot. To obtain the data, the robot traverses a path. The error realized along that path is then used to estimate the model parameters. The accuracy on the parameter estimation through this strategy is here discussed by considering paths different for length and shape.

Official source

https://infoscience.epfl.ch/entities/publication/918d533d-1cb4-4db1-ad02-d5958df2262a

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2002
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/918d533d-1cb4-4db1-ad02-d5958df2262a

About this result

Related concepts (32)

Parameter

A parameter (), generally, is any characteristic that can help in defining or classifying a particular system (meaning an event, project, object, situation, etc.). That is, a parameter is an element of a system that is useful, or critical, when identifying the system, or when evaluating its performance, status, condition, etc. Parameter has more specific meanings within various disciplines, including mathematics, computer programming, engineering, statistics, logic, linguistics, and electronic musical composition.

Autonomous robot

An autonomous robot is a robot that acts without recourse to human control. The first autonomous robots environment were known as Elmer and Elsie, which were constructed in the late 1940s by W. Grey Walter. They were the first robots in history that were programmed to "think" the way biological brains do and meant to have free will. Elmer and Elsie were often labeled as tortoises because of how they were shaped and the manner in which they moved. They were capable of phototaxis which is the movement that occurs in response to light stimulus.

Mobile robot

A mobile robot is an automatic machine that is capable of locomotion. Mobile robotics is usually considered to be a subfield of robotics and information engineering. Mobile robots have the capability to move around in their environment and are not fixed to one physical location. Mobile robots can be "autonomous" (AMR - autonomous mobile robot) which means they are capable of navigating an uncontrolled environment without the need for physical or electro-mechanical guidance devices.

Related publications (32)

Evaluating the Odometry Error of a Mobile Robot

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