Mostra el registre d'ítem simple

dc.contributor.authorMirats Tur, Josep Maria
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2009-03-13T09:32:11Z
dc.date.available2009-03-13T09:32:11Z
dc.date.created2007
dc.date.issued2007
dc.identifier.citationMirats Tur, Josep M.. "Onto computing the uncertainty for the odometry pose estimate of a mobile robot". A: 12th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Patras, Grècia, 2007. IEEE, 2007, p. 1340-1345.
dc.identifier.isbn9781424408269
dc.identifier.urihttp://hdl.handle.net/2117/2755
dc.description.abstractSolving the navigation issue for a mobile robot in a 2D space requires using internal and external sensors, so researchers try to fuse data from different sensors using methods as for example Kalman filtering. Those methods need an estimation of the uncertainty in the pose estimates obtained from the sensory system, usually expressed by a covariance matrix and obtained from experimental data. In a previous work, a general method to obtain the uncertainty in the odometry pose estimate was proposed. Here, with the aim of assessing the generality of the method, the general formulation is particularized for a given differential driven robot. Its kinematic model relates two internal measurements: the instantaneous displacement of both, right and left wheels. The obtained formulation is validated experimentally and compared against Kalman filtering.
dc.format.extentp. 1340 - 1345
dc.language.isoeng
dc.publisherIEEE
dc.relation.ispartofIEEE International Conference on Emerging Technologies and Factory Automation (ETFA)
dc.subjectÀrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject.lcshAutomation
dc.subject.otherUncertainty estimation
dc.subject.otherMobile robots
dc.titleOnto computing the uncertainty for the odometry pose estimate of a mobile robot
dc.typeConference report
dc.subject.lemacAutomatització
dc.date.end2007-09-28
dc.date.start2007-09-25
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation
dc.subject.inspecClassificació INSPEC::Cybernetics
dc.rights.accessOpen Access
local.personalitzacitaciotrue


Fitxers d'aquest items

Thumbnail

Aquest ítem apareix a les col·leccions següents

Mostra el registre d'ítem simple