A single landmark based localization algorithm for non-holonomic mobile robots

Hugues Sert 1, 2 Annemarie Kokosy 3 Wilfrid Perruquetti 2, 3, 4
2 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 : This paper proposes a single landmark based localization algorithm for non-holonomic mobile robots. In the case of a unicycle robot model, the localization problem is equivalent to the system observability. Based on this observation, the proposed localization method consists in finding a vector function which depends on the measurement vector and its derivatives. In order to compute estimates of the successive derivatives of the measurement vector, we will use a numerical differentiation method. When the robot is able to only measure the relative angle between itself and the landmark in 2D case, the algorithm estimates the posture of the robot, under the hypothesis that control inputs are known. But, sometimes it is also useful to be able to estimate the control input (for example when the robot slips). This is possible with the proposed algorithm by using a landmark in dimension three. The simulation results will be given in order to show the effectiveness of the proposed algorithm. Moreover, these results are compared with those obtained by an Extended Kalman Filter in order to underline the advantages of the new algorithm.
Type de document :
Communication dans un congrès
IEEE International Conference on Robotics and Automation, May 2011, Shanghai, China. 2011
Liste complète des métadonnées

Littérature citée [14 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/inria-00602536
Contributeur : Hugues Sert <>
Soumis le : jeudi 23 juin 2011 - 11:09:46
Dernière modification le : jeudi 11 janvier 2018 - 06:27:41
Document(s) archivé(s) le : samedi 24 septembre 2011 - 02:21:37

Fichier

ICRA2011_Hugues_Sert.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : inria-00602536, version 1

Citation

Hugues Sert, Annemarie Kokosy, Wilfrid Perruquetti. A single landmark based localization algorithm for non-holonomic mobile robots. IEEE International Conference on Robotics and Automation, May 2011, Shanghai, China. 2011. 〈inria-00602536〉

Partager

Métriques

Consultations de la notice

265

Téléchargements de fichiers

227