Mobile robot localization using robust extended H∞ filtering-Reference-Cited by-同舟云学术

Mobile robot localization using robust extended H∞ filtering

Published:2009-09-18 Issue:8 Volume:223 Page:1067-1080
ISSN:0959-6518
Container-title:Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
language:en
Short-container-title:Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering

Author:

Yang Fuwen¹,Wang Zidong²,Lauria Stanislao²,Liu Xiaohui²

Affiliation:

1. School of Information Science and Engineering, East China University of Science and Technology, Shanghai, People's Republic of China

2. Department of Information Systems and Computing, Brunel University, Uxbridge, UK

Abstract

In this paper, a novel methodology is provided for accurate localization of a mobile robot using autonomous navigation based on internal and external sensors. A new robust extended H∞ filter is developed to deal with the non-linear kinematic model of the robot and the non-linear distance measurements, together with process and measurement noises. The proposed filter relies on a two-step prediction-correction structure, which is similar to a Kalman filter. Simulations are provided to demonstrate the effectiveness of the proposed method.

Publisher

SAGE Publications

Subject

Mechanical Engineering,Control and Systems Engineering

Link

http://journals.sagepub.com/doi/pdf/10.1243/09596518JSCE791

Reference14 articles.

1. Measurement and correction of systematic odometry errors in mobile robots

2. Mobile robot localization using landmarks

3. A robust navigation system for autonomous vehicles using ultrasonics

4. Localizing in unstructured environments: dealing with the errors

5. Reliable Localization Using Set-Valued Nonlinear Filters

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