Open AccessMobile Robot Position Estimation using Milstein Algorithm
Author(s) -
Mohamed G. Abd Elfatah,
Hany Nasry Zaky,
A.M. Shams
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1970/1/012005
Subject(s) - mobile robot , convergence (economics) , position (finance) , teleoperation , noise (video) , robot , computer science , heading (navigation) , algorithm , control theory (sociology) , mathematics , artificial intelligence , engineering , control (management) , finance , aerospace engineering , economics , image (mathematics) , economic growth
Stochastic differential equation (SDE) became a very important mathematical tool in modeling and performance analysis of many systems due to the white noise appeared in them. one of the significant problems is the time delay problem which appeared in many teleoperated systems which has a significant effect in the system performance. The target in this paper is to approximate the mobile robot future position to decrease the time delay in teleoperation. As a result of white noise, heading angle equation of the mobile robot will be converted into a SDE. The approximated solution has been improved by using a higher order of convergence numerical algorithm (Milstein algorithm) with order of convergence equal one for better estimation of future position of mobile robot. The error has been decreased in many parts of the robot path. A simulated results and a comparison between the two numerical algorithms are explained.