SWS Academic Research eLibraryEarth & Planetary Sciences

Scholarly record

EFFECTS OF SPEED AND MEASUREMENT VARIANCE ON THE ACCURACY OF MOBILE ROBOT LOCALISATION

Gürkan Tuna

First published: 2018-06-20https://doi.org/10.5593/sgem2018/2.2/s08.020View metrics

Abstract

Localisation and navigation are essential tasks for a mobile robot. If a mobile robot knows where it is, then it can make a plan to reach its destination. Localisation and navigation processes are not isolated from each other, they are closely linked. In fact, the ability for a mobile robot to localise itself is a basic requirement for reliable long- range autonomous navigation. Using sensory information about its environment, the mobile robot can perform actions dependent on this sensory information and navigate around. Although highly accurate localisation and mapping using low-cost hardware is very difficult, the emergence of new sensor technologies and development of state-of-the-art localisation and navigation algorithms help researchers and practitioners to realise their goals. In this study we evaluate the effects of speed and measurement variance on the accuracy of mobile robot localisation. As the results of our simulation studies prove, increasing speed and measurement variance of a mobile robot results in higher position error and velocity error. This indicates that high robot speed and high measurement variances may significantly reduce the accuracy of localisation algorithms.

Publication Impact Profile

PlumX
  • Captures
  • Mendeley - Readers: 1
PLUMX see details

Publication details

Title
EFFECTS OF SPEED AND MEASUREMENT VARIANCE ON THE ACCURACY OF MOBILE ROBOT LOCALISATION
Authors
Gürkan Tuna
Proceedings
SGEM International Multidisciplinary Scientific GeoConference EXPO Proceedings; 18th International Multidisciplinary Scientific GeoConference SGEM2018, Informatics, Geoinformatics and Remote Sensing
Publisher
STEF92 Technology
Year
2018
Pages
157-162
SWS Citekey
Tuna20188157162
ISSN
1314-2704
ISBN
978-619-7408-40-9
Language
en
Publication type
Conference Paper
Keywords
localisationaccuracyspeedmeasurement variance.
References0
0references registered for this publication

Structured references will appear here after the reference import pass. The count is preserved now so the scholarly record is not incomplete.

View or Download full articleAccess options
Full paper accessChoose SWS login, librarian support, or instant article download.

SWS access login

Login as SWS Scientific Committee

Authors and approved SWS contributors will read and export their own linked papers after identity matching by SWS profile, email and SGEM GlobalID.

For librarian assistance: [email protected]

Purchase Instant Access

48-hour online accessComing soon
Online-only accessComing soon
Download the full article in PDF formatEUR 35
  • Article can be downloaded after successful payment.
  • Article may be used according to SWS library access terms.
  • Article cannot be redistributed.
Get full paper

Back to publication list