Robot navigation under uncertainties using event based sampling
2014 (English)In: Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on, IEEE conference proceedings, 2014, 1438-1445 p.Conference paper (Refereed)
In many robot applications, sensor feedback is needed to reduce uncertainties in environment models. However, sensor data acquisition also induces costs in terms of the time elapsed to make the observations and the computations needed to find new estimates. In this paper, we show how to use event based sampling to reduce the number of measurements done, thereby saving time, computational resources and power, without jeopardizing critical system properties such as safety and goal convergence. This is done by combining recent advances in nonlinear estimation with event based control using artificial potential fields. The results are particularly useful for real time systems such as high speed vehicles or teleoperated robots, where the cost of taking measurements is even higher, in terms of stops or transmission times. We conclude the paper with a set of simulations to illustrate the effectiveness of the approach and compare it with a baseline approach using periodic measurements.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2014. 1438-1445 p.
Other Engineering and Technologies Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-165896DOI: 10.1109/CDC.2014.7039603OAI: oai:DiVA.org:kth-165896DiVA: diva2:808982
Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on, Los Angeles, CA, 15-17 Dec. 2014
QC 201505072015-04-302015-04-302015-05-07Bibliographically approved