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Carnegie Mellon Robotics Institute

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Abstract

This paper describes an analytical method for modeling the positioning error of a robotic vehicle and examines how the metric of this error can be used to com-pare the geometries of various steering conﬁguration. Po-sitioning error can be caused by many factors stemming from the robot’s hardware and software conﬁgurations and the interaction between the robot and its environment. A slip motion model that captures the effects of key factors that contribute to positioning error is presented. Robot kinematic models with and without slippage are reformulated and used to perform an in-depth assessment and characterization of positioning error. The method is applied to three char-acteristic advance and steering conﬁgurations: Ackermann, articulated, and explicitly steered. This analysis serves as a quantitative evaluation of the properties of the steering geometries for path tracking under identical slippage con-ditions. The method can also be used as a tool for compar-ing robot conﬁgurations to make trade-off decisions early in the design process, as it allows for derivation of predicted performance values of alternative steering geometries

Keywords

Positioning error, Simulation, Autonomous vehicles

Notes

Text Reference

Joaquin Gutierrez-Jaguey, Dimitrios (Dimi) Apostolopoulos, and Jose Luis Gordillo, "Numerical comparison of steering geometries for robotic vehicles by modeling positioning error," Journal of Autonomous Robots, Volume 23, Number 2, August 2007, pp.147-159., , August, 2007

BibTeX Reference

@article{Gutierrez-Jaguey_2007_7078,
   author = "Joaquin Gutierrez-Jaguey and Dimitrios (Dimi) Apostolopoulos and Jose Luis Gordillo",
   title = "Numerical comparison of steering geometries for robotic vehicles by modeling positioning error",
   journal = "Journal of Autonomous Robots, Volume 23, Number 2, August 2007, pp.147-159.",
   month = "August",
   year = "2007",
   number= "CMU-RI-TR-",
}

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