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A predictor-based attitude and position estimation for rigid bodies moving in planar space by using delayed landmark measurements

Senejohnny, D ; Sharif University of Technology | 2017

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  1. Type of Document: Article
  2. DOI: 10.1017/S0263574716000187
  3. Publisher: Cambridge University Press , 2017
  4. Abstract:
  5. This paper proposes a globally and exponentially convergent predictive observer for attitude and position estimation based on landmark measurements and velocity (angular and linear) readings. It is assumed that landmark measurements are available with time-delay. The maximum value of the sensor delay under which the estimation error converges to zero is calculated. Synthesis of the observer is based on a representation of rigid-body kinematics and sensor delay, formulated via ordinary and partial differential equations (ODE-PDE). Observability condition specifies necessary and sufficient landmark configuration for convergence of attitude and position estimation error to zero. Finally, for implementation purposes, a PDE-free realization of the predictive observer is proposed. Simulation results are presented to demonstrate performance and convergence properties of the predictive observer in case of a wheeled mobile robot. © Cambridge University Press 2016
  6. Keywords:
  7. Attitude estimation ; Landmark ; Predictor observer ; Satellite ; Time delay ; Mobile robots ; Ordinary differential equations ; Rigid structures ; Satellites ; Attitude estimation ; Convergence properties ; Landmark ; Ordinary and partial differential equations ; Position estimation ; Predictor observer ; Rigid body kinematics ; Wheeled mobile robot ; Time delay
  8. Source: Robotica ; Volume 35, Issue 6 , 2017 , Pages 1415-1430 ; 02635747 (ISSN)
  9. URL: https://www.cambridge.org/core/journals/robotica/article/predictorbased-attitude-and-position-estimation-for-rigid-bodies-moving-in-planar-space-by-using-delayed-landmark-measurements/5E1316492F9C76EDBE320FF97C1E63B7