Euler-Maruyama algorithm in estimating UGV path and location in nuclear emergency and security applications

Mobile Robots (MR) are currently used across a variety of different sectors and have military, nuclear and industrial applications among others. In unmanned systems, teleoperation sensors, navigation instruments, control systems and radiation sensors can be fixed on the MR to perform required tasks such as radiological scanning, identifying, and surveying the contaminated environment that has been exposed to radiation. In this work, an estimation of the mobile robot location and the optimum path for time-delay compensation for MR teleoperation are investigated. As the MR teleoperation has a stochastic nature, the kinematics equations are modeled using stochastic differential equations (SDEs). Afterwards, these SDEs are solved using Numerical algorithms such as Euler-Maruyama algorithm which is used to approximate SDEs solution with the aid of MATLAB. Additionally, the results are discussed and depicted in tables and figures. Finally, the simulated results for the solution are performed and are found to highly agree with the ideal path of the simulated MR. This result is of great importance to be used in the case of nuclear emergency response and mitigation.