Open AccessMobile robot position estimation using Euler-Maruyama algorithm
Author(s) -
Mohamed G. Abd Elfatah,
Hany Nasry Zaky,
M. Gharib
Publication year - 2019
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/610/1/012074
Subject(s) - mobile robot , teleoperation , computer science , robot , kinematics , position (finance) , kinematics equations , stochastic differential equation , robot control , control theory (sociology) , robot kinematics , artificial intelligence , simulation , algorithm , mathematics , control (management) , physics , finance , classical mechanics , economics
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.