Communication to: Close form for expressing the uncertainty in odometry position estimate. Application to an autonomous vehicle
The uncertainty of the odometry position estimate for a given vehicle can be obtained from the definition of the covariance matrix by using its kinematic model as well as its sensory system data. This communication item extends a previous work in [1] by giving the appropriate guidelines so as to com...
| Autores: | , , |
|---|---|
| Tipo de recurso: | artículo |
| Fecha de publicación: | 2007 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/2735 |
| Acceso en línea: | https://hdl.handle.net/2117/2735 |
| Access Level: | acceso abierto |
| Palabra clave: | Automation Control theory Robotics Positioning uncertainty Automatització Control, Teoria de Robòtica Classificació INSPEC::Automation Classificació INSPEC::Control theory Classificació INSPEC::Automation::Robots Àrees temàtiques de la UPC::Informàtica::Automàtica i control Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | The uncertainty of the odometry position estimate for a given vehicle can be obtained from the definition of the covariance matrix by using its kinematic model as well as its sensory system data. This communication item extends a previous work in [1] by giving the appropriate guidelines so as to compute the cross-covariance terms between the previous position estimate and the actual increments of position. This is necessary in general because the orientation errors on the robot’s previous position will affect the calculation of the actual increments of position. |
|---|