Non-uniform dead-reckoning position estimate updates

Don Krantz, Maria Gini

Research output: Contribution to journalConference articlepeer-review

12 Scopus citations

Abstract

We present an error model for dead-reckoning position estimating systems used in robotic research. This model is suitable for use in real time with general position estimating systems when the model is updated throughout the trajectory. A technique for updating the system error model when the position estimate correction information is non-uniform is also described. We have used this error model to screen noisy position corrections to a dead-reckoning navigator. An autonomous robot system using the error model and a compatible position updating technique has been demonstrated both in simulation and in several types of uncontrolled and unstructured environments.

Original languageEnglish (US)
Pages (from-to)2061-2066
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
StatePublished - Jan 1 1996
EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
Duration: Apr 22 1996Apr 28 1996

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