Uncertainty of Mobile Robot Localization in Cooperative Inspection Tasks
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F11%3A00182207" target="_blank" >RIV/68407700:21230/11:00182207 - isvavai.cz</a>
Result on the web
<a href="https://sgs.cvut.cz/index.php?action=workshop_2011" target="_blank" >https://sgs.cvut.cz/index.php?action=workshop_2011</a>
DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Uncertainty of Mobile Robot Localization in Cooperative Inspection Tasks
Original language description
This paper presents an overview of the rst year of a two year project aiming at multi-goal path planning and navigation methods for a team of real mobile robots performing an inspection task in known environments. The real robots are considered and therefore their localization estimation provides position with an uncertainty. This uncertainty is modeled by an iterative equation, which describes the evolution of a position error for a robot navigating by a reliable and provably stable method. In this project, we consider the model in the path planning algorithm for nding a path visiting given set of locations. The proposed planning procedure considers not only the length of the planned path, but also keeps the robot position error low at the locations.The experiments show that although the planned path is longer, the reliability of visiting the inspected locations is increased.
Czech name
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Czech description
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Classification
Type
O - Miscellaneous
CEP classification
JC - Computer hardware and software
OECD FORD branch
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Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2011
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů