DocumentCode :
75250
Title :
Unknown Input H 
Observer-Based Localization of a Mobile Robot With Sensor Failure
Author :
Hwan Hur ; Hyo-Sung Ahn
Author_Institution :
Center for Anal. Instrum. Dev., Korea Basic Sci. Inst., Daejeon, South Korea
Volume :
19
Issue :
6
fYear :
2014
fDate :
Dec. 2014
Firstpage :
1830
Lastpage :
1838
Abstract :
A mobile robot localization can be realized by integrating sensors such as an inertial measurement unit (IMU) and external reference sensors. However, the IMU may occasionally fail due to various reasons such as its sudden movement and electromagnetic interference. In this paper, we develop a discrete-time H∞ filter with an unknown input observer to handle failure in the IMU. The developed filter is implemented for the mobile robot localization using an integration of a wireless sensor network and an IMU. Through actual experimental tests, the performance of the proposed mobile robot localization scheme is evaluated.
Keywords :
H∞ filters; discrete time systems; mobile robots; observers; wireless sensor networks; IMU; discrete-time H∞ filter; external reference sensors; inertial measurement unit; mobile robot localization scheme; unknown input H∞ observer-based localization; wireless sensor network; Accelerometers; Mobile robots; Observers; Position measurement; Robot sensing systems; Vectors; Wireless sensor networks; Localization; sensor failure; unknown input observer;
fLanguage :
English
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
Publisher :
ieee
ISSN :
1083-4435
Type :
jour
DOI :
10.1109/TMECH.2014.2298034
Filename :
6722885
Link To Document :
