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
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;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525470
