Mobile Robot Position Estimation using Milstein Algorithm

Abstract

Abstract 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.