DocumentCode
299999
Title
State estimation of non-holonomic mobile robots using nonlinear observers
Author
Ishikawa, Masato ; Sampei, Mitsuji
Author_Institution
Dept. of Mech. & Environ. Inf., Tokyo Inst. of Technol., Japan
Volume
2
fYear
1995
fDate
21-27 May 1995
Firstpage
1379
Abstract
This paper investigates the position estimation of wheeled mobile robots governed by nonholonomic constraints. Using time-scale transformation and a proper choice of state variables, the problem is formulated as state estimation of nonlinear SISO systems. To deal with this problem, we construct the nonlinear observers via Lyapunov´s direct method. Simulation results are also provided
Keywords
Lyapunov methods; mobile robots; nonlinear systems; state estimation; Lyapunov direct method; nonholonomic constraints; nonholonomic mobile robots; nonlinear SISO systems; nonlinear observers; position estimation; state estimation; time-scale transformation; wheeled mobile robots; Automobiles; Kinematics; Mobile robots; Observers; Path planning; Poles and towers; Robot sensing systems; State estimation; State feedback; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525470
Filename
525470
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