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IROS
2009
IEEE

Modeling mobile robot motion with polar representations

9 years 31 min ago
Modeling mobile robot motion with polar representations
— This article compares several parameterizations and motion models for improving the estimation of the nonlinear uncertainty distribution produced by robot motion. In previous work, we have shown that the use of a modified polar parameterization provides a way to represent nonlinear measurements distributions in the Cartesian space as linear distributions in polar space. Following the same reasoning, we present a motion model extension that utilizes the same polar parameterization to achieve improved modeling of mobile robot motion in between measurements, gaining robustness with no additional overhead. We present both simulated and experimental results to validate the effectiveness of our approach.
Joseph Djugash, Sanjiv Singh, Ben Grocholsky
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Joseph Djugash, Sanjiv Singh, Ben Grocholsky
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