Abstract
This paper describes the performance evaluation of mobile robot motion. The evaluation is based on a probabilistic model of robot motion and sensor output. In the simulator, robot motion includes uncertainties in translational velocity and rotational velocity. Among various kinds of sensors, implemented in the simulator is a range sensor which is used widely for obstacle detection, map making, and localization. The sensor model includes measurement noise with Gaussian distribution around true range value, failure of detection, and unexplainable random measurement. The simulator is used to test a collision avoidance algorithm, map making, and motion coordination algorithm. The results from a simulated environment with uncertainty are compared with the results from a simulator with no uncertainty. In practical application of a mobile robot, major problems arise due to the unexpected uncertainty of motion and sensors. The simulator is useful to predict problems of robot motion before the robot is deployed in the field. For wider availability, the simulator can be further developed to include error models in various sensors.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Thrun, S., Burgard, W., Fox, D.: Probabilistic Robotics. MIT Press, Cambridge (2005)
Nolfi, S., Floreano, D.: Evlolutionary Robotics: The Biology, Intelligence, and Technology of Self-Organizing Machines. MIT Press, Cambridge (2000)
Arkin, R.C.: Behavior-Based Robotics. MIT Press, Cambridge (1998)
Ko, N.Y., Seo, D.J., Kim, G.J., Moon, Y.S., Bae, Y.C., Lee, S.M.: Simulator Implementing Uncertainties in Motion for Robots in a Network. In: Proc. IEEE International Conference on Mechatronics and Automation, China, pp. 2836–2841 (2007)
Cyberbotics Ltd., http://www.cyberbotics.com
MobotSoft Ltd., http://www.mobotsoft.com
Player/Stage Open Source Project, http://playerstage.sourceforge.net
Muros Multi Robot Simulator, http://www.cis.upenn.edu/~chaimo/MuRoS.htm
Simmons, R., Mitchell, T.: A Task Control Architecture for Autonomous Robots. In: Proc. Third Annual Workshop on Space Operations Automation and Robotics (SOAR 1989), USA, pp. 409–414 (1989)
Khatib, O.: Real-time Obstacle Avoidance for Manipulators and Mobile Robots. The Int. Journal of Robotics Research 5(1), 90–98 (1986)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Seo, D.J., Ko, N.Y., Kim, G.J., Moon, Y., Bae, Y., Lim, SW. (2009). Performance Evaluation of Robot Motion Incorporating Uncertainties in Sensors and Motion. In: Chien, BC., Hong, TP., Chen, SM., Ali, M. (eds) Next-Generation Applied Intelligence. IEA/AIE 2009. Lecture Notes in Computer Science(), vol 5579. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-02568-6_28
Download citation
DOI: https://doi.org/10.1007/978-3-642-02568-6_28
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-02567-9
Online ISBN: 978-3-642-02568-6
eBook Packages: Computer ScienceComputer Science (R0)