Uncertainty of Mobile Robot Localization in Cooperative Inspection Tasks

Kód výsledku v 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>

Výsledek na webu

<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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Jazyk výsledku

angličtina

Název v původním jazyce

Uncertainty of Mobile Robot Localization in Cooperative Inspection Tasks

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Uncertainty of Mobile Robot Localization in Cooperative Inspection Tasks

Popis výsledku anglicky

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.

Druh

O - Ostatní výsledky

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

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Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2011

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů