A relative motion estimation using a bounded error method

A bounded-error methodology applied to estimate relative displacements of an indoor mobile robot equipped with a laser range-finder that periodically delivers a range scan of the environment is presented. The method is based on the fusion between the range readings delivered by the laser and the feedback control input used to constraint the robot to move in its free workspace. A weighted least square estimation method, previously published (Victorino, Rives, and Borrelly, 2002), is recalled and a comparison between the proposed bounded-error methodology and the least square method is presented. Experimental results validate the application of the bounded-error estimation method.