Ruling uncertainties in Range-only Robot Localisation.
I2MTC(2021)
摘要
We consider a mobile robot localising itself through a set of UWB wireless anchors. We show how the use of an appropriate localisation algorithm allows for an analytical estimate of the localisation uncertainty. This information is used to build a potential-based motion planning algorithm that drives the robot along trajectories, while achieving a good tradeoff between moving toward the goal and keeping localisation uncertainty reasonably low.
更多查看译文
关键词
Range-only Measurements,Localisation,Uncertainty Analysis,Uncertainty Control
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要