Analytic error variance predictions for planar vehicles

9 years 10 months ago
Analytic error variance predictions for planar vehicles
— Path planning algorithms that incorporate risk and uncertainty need to be able to predict the evolution of pathfollowing 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.
Matthew Greytak, Franz Hover
Added 23 May 2010
Updated 23 May 2010
Type Conference
Year 2009
Where ICRA
Authors Matthew Greytak, Franz Hover
Comments (0)