This Article Full Text (PDF) References Alert me when this article is cited Alert me if a correction is posted Services Email this article to a friend Similar articles in this journal Alert me to new issues of the journal Add to Saved Citations Download to citation manager Request Permissions Request Reprints Add to My Marked Citations Citing Articles Citing Articles via Google Scholar Citing Articles via Scopus Google Scholar Articles by Kelly, A. Search for Related Content Social Bookmarking                         What's this?

Linearized Error Propagation in Odometry

Robotics Institute,Carnegie Mellon University, Pittsburgh, PA 15213-3890, USA alonzo{at}ri.cmu.edu

The related fields of mobile robotics and ground vehicle localization lack a linearized theory of odometry error propagation. By contrast, the equivalent Schuler dynamics which apply to inertial guidance have been known and exploited for decades. In this paper, the general solution of linearized propagation dynamics of both systematic and random errors for vehicle odometry is developed and validated. The associated integral transforms are applied to the task of eliciting the major dynamic behaviors of errors for several forms of odometry. Interesting behaviors include path independence, response to symmetric inputs, zeros, extrema, monotonicity and conservation. Applications to systems theory, systems design, and calibration are illustrated.

Key Words: mobile robots • odometry • error propagation • calibration • position estimation • localization • dead reckoning

The International Journal of Robotics Research, Vol. 23, No. 2, 179-218 (2004)
DOI: 10.1177/0278364904041326


CiteULike    Complore    Connotea    Del.icio.us    Digg    Reddit    Technorati    Twitter    What's this?