A Dynamic Event-Based Recursive State Estimation for Mobile Robot Localization

Abstract

This paper deals with the recursive state estimation issue for mobile robot localization under a dynamic event-based mechanism. To enhance the utilization of communication resources, a dynamic event-based transmission protocol is utilized to reduce unnecessary measurement transmissions by introducing an auxiliary dynamical variable to adjust threshold parameters. The primary objective of this paper is to develop a dynamic event-based recursive state estimation scheme for the mobile robot localization problem in the presence of the impact of the dynamic event-based mechanism such that an upper bound on the estimation error covariance is firstly guaranteed by using mathematical induction and then is locally minimized by virtue of appropriately choosing the gain parameters. Furthermore, the boundedness analysis of the estimation error is conducted by establishing an evaluation criteria in the mean-squared sense. Finally, an experimental example is conducted to verify the feasibility of the proposed mobile robot localization strategy.