Cart (Loading....) | Create Account
Close category search window
 

Planning for noise-induced trajectory bias in nonholonomic robots with uncertainty

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Yu Zhou ; Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD, USA ; Chirikjian, G.S.

In traditional trajectory planning it is usually assumed that the mean path of an ensemble of open-loop trajectories is the same as would be obtained if no noise were present. However, even zero-mean noise tends to cause the mean trajectory to deviate from the nominal one. This paper introduces a stochastic model-based motion planning method to compensate for this bias. An implementation for nonholonomic mobile robots based on the kinematic cart model is provided. The examples show that the proposed method takes full advantage of the results of existing optimal trajectory planning methods, and makes the resulting mean trajectory conform to the pre-selected nominal trajectory. As a result, the average amount of online trajectory correction required of a controller is minimized.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:5 )

Date of Conference:

26 April-1 May 2004

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.