A multi-element generalized polynomial chaos approach to analysis of mobile robot dynamics under uncertainty

Authors:
Gaurav Kewlani;Karl Iagnemma
Affiliations:
Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA;Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

The ability of mobile robots to quickly and accurately analyze their dynamics is critical to their safety and efficient operation. In field conditions, significant uncertainty is associated with terrain and/or vehicle parameter estimates, and this must be considered in an analysis of robot motion. Here a Multi-Element generalized Polynomial Chaos (MEgPC) approach is presented that explicitly considers vehicle parameter uncertainty for long term estimation of robot dynamics. It is shown to be an improvement over the generalized Askey polynomial chaos framework as well as the standard Monte Carlo scheme, and can be used for efficient, accurate prediction of robot dynamics.