A multi-element generalized polynomial chaos approach to analysis of mobile robot dynamics under uncertainty
Name
Kewlani-2009-A multi-element generalized polynomial chaos approach to analysis of mobile robot dynamics under uncertainty.pdf
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1001.07 KB
Format
Adobe PDF
Checksum (MD5)
815d97bc1725506ad5f082ce179f5ad8
Author(s)
Kewlani, Gaurav
Iagnemma, Karl
Date Issued
December 2009
Journal
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009
Publisher
Institute of Electrical and Electronics Engineers
Citation
Kewlani, G., and K. Iagnemma. “A Multi-Element generalized Polynomial Chaos approach to analysis of mobile robot dynamics under uncertainty.” Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on. 2009. 1177-1182. ©2009 Institute of Electrical and Electronics Engineers.
Version
Final published version
Abstract
The ability of mobile robots to quickly and accurately analyze their dynamics is critical to their safety and efficient operation. In field conditions, significant uncertainty is associated with terrain and/or vehicle parameter estimates, and this must be considered in an analysis of robot motion. Here a Multi-Element generalized Polynomial Chaos (MEgPC) approach is presented that explicitly considers vehicle parameter uncertainty for long term estimation of robot dynamics. It is shown to be an improvement over the generalized Askey polynomial chaos framework as well as the standard Monte Carlo scheme, and can be used for efficient, accurate prediction of robot dynamics.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Massachusetts Institute of Technology. Laboratory for Manufacturing and Productivity
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2009.5354420
