Mobile robot position estimation using Euler-Maruyama algorithm | ||||
| International Conference on Aerospace Sciences and Aviation Technology | ||||
| Article 76, Volume 18, Issue 18, April 2019, Page 1-8 PDF (462.1 K) | ||||
| Document Type: Original Article | ||||
| DOI: 10.1088/1757-899X/610/1/012074 | ||||
 View on SCiNiTO | ||||
| Authors | ||||
| Mohamed G Abd Elfatah1; Hany Nasry Zaky1; M Gharib2 | ||||
| 1Mathematics Department, Military Technical College, Cairo, Egypt. | ||||
| 2Mathematics Department, Faculty of science, Ain shams university, Cairo, Egypt. | ||||
| Abstract | ||||
| Mobile robots became very important and more familiar in commercial, industrial and military applications. In many unmanned vehicle applications, sensors and control systems are mounted on mobile robots to identify the surrounding environment for obstacle avoidance. This work aims to estimate the mobile robot location to compensate the time delay problem which appears in teleoperation. According to the stochastic nature of the mobile robot teleoperation, the kinematics equation of mobile robot will be converted into stochastic differential equations (SDEs). Euler-Maruyama algorithm used as it is one of the most popular numerical algorithms to approximate SDEs solution. A simulated results for the solution is produced which seem to be good comparing with mobile robot ideal path simulation. | ||||
| Keywords | ||||
| Euler-Maruyama method; stochastic differential equation; teleoperation | ||||
|
Statistics Article View: 35 PDF Download: 41 |
||||
