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 language||English (US)|
|Number of pages||6|
|Journal||Proceedings - IEEE International Conference on Robotics and Automation|
|State||Published - Jan 1 1996|
|Event||Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA|
Duration: Apr 22 1996 → Apr 28 1996