Control principle and error estimation for inverse trajectory method under locating error with optimization

Shaosheng Xu, Jinde Cao, Zhuoxuan Li and Wenhua Qian

Mathematics and Computers in Simulation (MATCOM), 2022, vol. 201, issue C, 603-615

Abstract: Accurate trajectory control of wheeled robot is an unavoidable problem in path planning, especially in the environment of large positioning error. In this paper, by designing the reverse trajectory and using martingale method, the accurate execution of the target trajectory is realized, and the error estimation is given. Finally, through numerical simulation, it is shown that when the observation error is 0.5 units, the average trajectory error is about 0.1 units, and the probability of error exceeding 0.347 units is less than 2%.

Keywords: Stochastic analysis; Error estimation; Trajectory; Locating error; Neural network (search for similar items in EconPapers)
Date: 2022
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Persistent link: https://EconPapers.repec.org/RePEc:eee:matcom:v:201:y:2022:i:c:p:603-615

DOI: 10.1016/j.matcom.2021.04.009

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