Analytic error variance predictions for planar vehicles
Name
Greytak-2009-Analytic error variance predictions for planar vehicles.pdf
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556.03 KB
Format
Adobe PDF
Checksum (MD5)
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Author(s)
Greytak, Matthew B.
Hover, Franz S.
Date Issued
July 2009
Journal
Proceedings of the IEEE International Conference on Robotics and Automation, 2009
Publisher
Institute of Electrical and Electronics Engineers
Citation
Greytak, M., and F. Hover. “Analytic error variance predictions for planar vehicles.” Robotics and Automation, 2009. ICRA '09. IEEE International Conference on. 2009. 471-476. © Copyright 2010 IEEE
Version
Final published version
Abstract
Path planning algorithms that incorporate risk and uncertainty need to be able to predict the evolution of path-following error statistics for each candidate plan. We present an analytic method to predict the evolving error statistics of a holonomic vehicle following a reference trajectory in a planar environment. This method is faster than integrating the plant through time or performing a Monte Carlo simulation. It can be applied to systems with external Gaussian disturbances, and it can be extended to handle plant uncertainty through numerical quadrature techniques.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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/ROBOT.2009.5152583
