NDLI: A quantitative method for comparing trajectories of mobile robots using point distribution models

Content Provider	IEEE Xplore Digital Library
Author	Roduit, P. Martinoli, A. Jacot, J.
Copyright Year	2007
Description	Author affiliation: Ecole Polytech. Fed. de Lausanne, Lausanne (Roduit, P.)
Abstract	In the field of mobile robotics, trajectory details are seldom taken into account to qualify robot performance. Most metrics rely mainly on global results such as the total time needed or distance traveled to accomplish a given navigational task. Indeed, usually mobile roboticists assume that, by using appropriate navigation techniques, they can design controllers so that the error between the actual and the ideal trajectory can be maintained within prescribed bounds. This assumption indirectly implies that there is no interesting information to be extracted by comparing trajectories if their variation is essentially resulting from uncontrolled noisy factors. In this paper, we will instead show that analyzing and comparing resulting trajectories is useful for a number of reasons, including model design, system optimization, system performance, and repeatability. In particular, we will describe a trajectory analysis method based on point distribution models (PDMs). The applicability of this method is demonstrated on the trajectories of a real differential- drive robot, endowed with two different controllers leading to different patterns of motion. Results demonstrate that in the space of the PDM, the difference between the two controllers is easily quantifiable. This method appears also to be extremely useful for comparing real trajectories with simulated ones for the same set-up since it affords an assessment of the simulation faithfulness before and after appropriate tuning of simulation features.
Starting Page	2441
Ending Page	2448
File Size	439347
Page Count	8
File Format	PDF
ISBN	9781424409112
DOI	10.1109/IROS.2007.4399126
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Trajectory Robot sensing systems Hardware Intelligent robots Design optimization Vehicles Software performance Sampling methods Navigation
Content Type	Text
Resource Type	Article

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