Mobile robot position estimation using Euler-Maruyama algorithm

摘要

Abstract 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.