A quantitative method for comparing trajectories of mobile robots using point distribution models

— In the field of mobile robotics, trajectory details are seldom taken into account to qualify robot performance. Most metrics rely mainly on global results such as the total time needed or distance traveled to accomplish a given navigational task. Indeed, usually mobile roboticists assume that, by using appropriate navigation techniques, they can design controllers so that the error between the actual and the ideal trajectory can be maintained within prescribed bounds. This assumption indirectly implies that there is no interesting information to be extracted by comparing trajectories if their variation is essentially resulting from uncontrolled noisy factors. In this paper, we will instead show that analyzing and comparing resulting trajectories is useful for a number of reasons, including model design, system optimization, system performance, and repeatability. In particular, we will describe a trajectory analysis method based on Point Distribution Models (PDMs). The applicabilit...

• Type: Conference
• Year: 2007
• Where: IROS
• Authors: Pierre Roduit, Alcherio Martinoli, Jacques Jacot
• Keywords: IROS 2007, Robotics, Trajectories, Trajectory, Trajectory Analysis Method