The Impact of Parametric Uncertainties on Mobile Robots Velocities and Pose Estimation

Abstract

This paper analyses the impact of parametric uncertainties of a mobile robot kinematic model on velocity and pose estimation, providing models and quantifiable knowledge about them. Most works neglect how the uncertainty regarding the robot's construction aspects (such as wheels radii, the distance between them, and the robot's center of mass) affects both velocities and pose estimation. To help readers understand the influence of such parametric uncertainties, we performed experiments in a simulator and used the collected data on the proposed models. The paper also analyses how the magnitude of velocities considered by the controllers and the followed path can decrease or increase the impact of the parametric uncertainties. The proposed models and presented analysis help understanding the influence (isolated or simultaneous) of different sources of uncertainty in the robot's velocities and pose estimation. This knowledge can be applied to estimate uncertainties for localization methods based on data fusion, complementing or even avoiding the experimental procedures. Also, the development of controllers, robot simulators and new methodologies for parameters' calibration and the design and construction of new robots can also profit from the results presented in this paper.