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Sensor-based globally exponentially stable range-only simultaneous localization and mapping
Lourenco P.1; Batista P.1; Oliveira P.1; Silvestre C.1,2; Chen C.L.P.2
2015
Source PublicationRobotics and Autonomous Systems
ISSN09218890
Volume68Pages:72-85
Abstract

This paper proposes the design, analysis, and validation of a globally exponentially stable (GES) filter for tridimensional (3-D) range-only simultaneous localization and mapping. For observability analysis purposes, a nonlinear sensor-based dynamical system is formulated resorting only to exact linear and angular kinematics and a state augmentation is exploited that allows the proposed formulation to be considered as linear time-varying without linearizing the original nonlinear system. Constructive observability results can then be established, leading naturally to the design of a Kalman Filter with GES error dynamics. These results also provide valuable insight on the motion planning of the vehicle. Experimental results demonstrate the good performance of the algorithm and help validate the theoretical results presented. For completeness and to illustrate the necessity of a proper trajectory, simulation data are included as well.

KeywordAutonomous Vehicles Nonlinear Systems Range Data Robot Navigation Simultaneous Localization And Mapping
DOI10.1016/j.robot.2015.01.010
URLView the original
Language英语
WOS Research AreaAutomation & Control Systems ; Computer Science ; Robotics
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Robotics
WOS IDWOS:000352669500007
PublisherELSEVIER SCIENCE BV, PO BOX 211, 1000 AE AMSTERDAM, NETHERLANDS
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Cited Times [WOS]:6   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Instituto Superior Técnico
2.Universidade de Macau
Recommended Citation
GB/T 7714
Lourenco P.,Batista P.,Oliveira P.,et al. Sensor-based globally exponentially stable range-only simultaneous localization and mapping[J]. Robotics and Autonomous Systems,2015,68:72-85.
APA Lourenco P.,Batista P.,Oliveira P.,Silvestre C.,&Chen C.L.P..(2015).Sensor-based globally exponentially stable range-only simultaneous localization and mapping.Robotics and Autonomous Systems,68,72-85.
MLA Lourenco P.,et al."Sensor-based globally exponentially stable range-only simultaneous localization and mapping".Robotics and Autonomous Systems 68(2015):72-85.
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