Sonar-based robot navigation using nonlinear robust observers

DOI10.1016/S0005-1098(03)00089-XMaRDI QIDQ1398394zbMATH OpenFDO

Authors Emma Delgado, Antonio Barreiro

Publication date 29 July 2003

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/S0005-1098(03)00089-X

zbMATH Keywords

extended Kalman filters (EKF)nonlinear observerspose estimationrobustnesssonar-based robot navigation

Mathematics Subject Classification ID

Observability (93B07) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85)

Review text

For applications to sonar-based navigation of mobile robots, a convergence analysis of the nonlinear EFK-observer is given. Treating the problem from the deterministic point of view, results on the robustness of the nonlinear observation scheme are presented, where a strong reduction of the conservativeness is obtained. A simulation example is given (mobile platform).

Recommendations

• Sonar-based robot navigation using non-linear robust discrete-time observers
• scientific article; zbMATH DE number 53983
• scientific article; zbMATH DE number 17774
• scientific article; zbMATH DE number 2089548
• Exploration of a Mobile Robot Based on Sonar Probability Mapping
• Dynamic Path Planning for Robot Navigation Using Sonor Mapping and Neural Networks

Cites work

• \(H^ \infty\) - optimal control and related minimax design problems. A dynamic game approach
• An EKF-based nonlinear observer with a prescribed degree of stability
• Applying the EKF to stochastic differential equations with level effects
• scientific article; zbMATH DE number 53983 (Why is no real title available?)
• scientific article; zbMATH DE number 1320314 (Why is no real title available?)
• Lyapunov matrix equations in system stability and control.
• Monte Carlo filters for non-linear state estimation
• New developments in state estimation for nonlinear systems
• On robustness and precision of mobile robots missions

Cited in

(6)

• Robust set-membership state estimation; application to underwater robotics
• scientific article; zbMATH DE number 53983 (Why is no real title available?)
• Single range aided navigation and source localization: observability and filter design
• Model-based \(\mathcal H_2\) adaptive filter for 3D positioning and tracking systems
• Sonar-based robot navigation using non-linear robust discrete-time observers
• The use of Doppler in sonar-based mobile robot navigation: inspirations from biology

This page was built for publication: Sonar-based robot navigation using nonlinear robust observers

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q1398394)