DocumentCode
434955
Title
Active nonlinear observers for mobile systems
Author
Cedervall, Simon ; Hu, Xiaoming
Author_Institution
Optimization & Syst. Theor., R. Inst. of Technol., Stockholm, Sweden
Volume
4
fYear
2004
fDate
14-17 Dec. 2004
Firstpage
3898
Abstract
For nonlinear systems in general, the observability does not only depend on the initial conditions, but also on the control. This presents an interesting issue: how to design an observer together with the exciting control. In this paper a subproblem in the so called SLAM problem - the relocalization problem is studied, namely, observing the state of a mobile system based on distance sensor readings. An observer is proposed for a car-like robotic system.
Keywords
control system synthesis; mobile robots; nonlinear systems; observability; SLAM problem; active nonlinear observers; car-like robotic system; distance sensor readings; exciting control; mobile system; mobile systems; nonlinear systems; observer design; relocalization problem; Computer vision; Control systems; Mobile robots; Nonlinear control systems; Nonlinear systems; Observability; Robot sensing systems; Robot vision systems; Sensor systems; Simultaneous localization and mapping;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2004. CDC. 43rd IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-8682-5
Type
conf
DOI
10.1109/CDC.2004.1429346
Filename
1429346
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