Robot Trajectories Comparison: A Statistical Approach
Joint Authors
Ansuategui, A.
Arruti, A.
Susperregi, L.
Yurramendi, Y.
Jauregi, E.
Lazkano, E.
Sierra, B.
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-11-25
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Medicine
Information Technology and Computer Science
Abstract EN
The task of planning a collision-free trajectory from a start to a goal position is fundamental for an autonomous mobile robot.
Although path planning has been extensively investigated since the beginning of robotics, there is no agreement on how to measure the performance of a motion algorithm.
This paper presents a new approach to perform robot trajectories comparison that could be applied to any kind of trajectories and in both simulated and real environments.
Given an initial set of features, it automatically selects the most significant ones and performs a statistical comparison using them.
Additionally, a graphical data visualization named polygraph which helps to better understand the obtained results is provided.
The proposed method has been applied, as an example, to compare two different motion planners, FM2 and WaveFront, using different environments, robots, and local planners.
American Psychological Association (APA)
Ansuategui, A.& Arruti, A.& Susperregi, L.& Yurramendi, Y.& Jauregi, E.& Lazkano, E.…[et al.]. 2014. Robot Trajectories Comparison: A Statistical Approach. The Scientific World Journal،Vol. 2014, no. 2014, pp.1-13.
https://search.emarefa.net/detail/BIM-1049127
Modern Language Association (MLA)
Ansuategui, A.…[et al.]. Robot Trajectories Comparison: A Statistical Approach. The Scientific World Journal No. 2014 (2014), pp.1-13.
https://search.emarefa.net/detail/BIM-1049127
American Medical Association (AMA)
Ansuategui, A.& Arruti, A.& Susperregi, L.& Yurramendi, Y.& Jauregi, E.& Lazkano, E.…[et al.]. Robot Trajectories Comparison: A Statistical Approach. The Scientific World Journal. 2014. Vol. 2014, no. 2014, pp.1-13.
https://search.emarefa.net/detail/BIM-1049127
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1049127