The project aims to develop a probabilistic motion model linked with the kinematics/dynamics of the actual mobile robot motion.

In order to be able to correct and infer position/localisation information in a mobile robot, a motion model is needed. These motion models are a vital part for several different mobile robot problems. This is the case with the Simultaneous Localisation and Mapping problem (SLAM). Motion modelling is an important but not widely researched aspect of mobile robotics.

The project aims to develop a probabilistic motion model linked with the kinematics/dynamics of the actual mobile robot motion. It should provide a theoretical framework for such a model, which should be also experimentally validated. Experiments can be performed on either custom built units or directly on mobile robot platforms (eg Khepera III, Erratic Mobi). It is expected that a new motion model will be produced, that will be able to take into account the characteristics of the environment whilst at the same type being used as part of a larger framework (eg SLAM).

Contact Dr George Chliveros, phone 0114 225 3508 or e-mail g.chliveros@shu.ac.uk