Localizability of unicycle mobiles robots: an algebraic point of view.

Hugues Sert 1, 2 Wilfrid Perruquetti 1, 3 Annemarie Kokosy 3 Xin Jin 2 Jorge Palos 2
1 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
3 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : A single landmark based localization algorithm for unicycle mobile robots was provided in [1]. It is based on the algebraic localizability notion and an efficient differentiation algorithm in noisy environment ([2], [3]). Let us stress that this localization algorithm do not need to know the linear and the angular velocities which are reconstructed by this algorithm using the kinematic model. In this paper, a sensibility study leads to a new fusion algorithm in the multi landmark case us- ing as a basis our posture differentiation based estimator. Some simulations and experimental results are presented in order to prove the effectiveness of the proposed method compared to the well known EKF method.
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Hugues Sert, Wilfrid Perruquetti, Annemarie Kokosy, Xin Jin, Jorge Palos. Localizability of unicycle mobiles robots: an algebraic point of view.. International Conference on Intelligent Robots and Systems, Oct 2012, Vilamoura, Algrave, Portugal. ⟨hal-00720198⟩

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