This paper attempts to disclose the impact of localization uncertainty on path planning, a key function of mobile robot. Firstly, the localization uncertainty was analyzed in details, revealing that the uncertainty can be represented by the half length of the possible distribution area of the X-Y coordinates or the orientation variance. After that, the impact of uncertainty on path planning was evaluated in light of the path planning safety and performance. Then, two evaluation functions were put forward to evaluate the impact of uncertainty on path planning. Through simulation and experiment, the proposed functions were proved feasible and valid. The research findings shed new light on path planning under localization uncertainty.
Path planning, localization, map matching, mobile robot
This work was supported by the National Natural Science Fund [grant number 61503043]; Natural Science Foundation of Shaanxi Provincial [grant number 2015JQ6214, 2017JM7016]; Foundation of Central University [grant number 310822172204].
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