Please use this identifier to cite or link to this item:
http://bura.brunel.ac.uk/handle/2438/8807
Title: | Mobile robot localization using robust extended H-infinity filtering |
Authors: | Yang, F Wang, Z Lauria, S Hu, X |
Keywords: | Autonomous mobile robot;Localization;Robust extended H-infinity filtering;Navigation |
Issue Date: | 2009 |
Publisher: | Sage Publications |
Citation: | Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 223(I8), 1067 - 1080, 2009 |
Abstract: | In this paper, a novel methodology is provided for accurate localization of a mobile robot using autonomous navigation based on internal and external sensors. A new robust extended H∞ filter is developed to deal with the non-linear kinematic model of the robot and the non-linear distance measurements, together with process and measurement noises. The proposed filter relies on a two-step prediction-correction structure, which is similar to a Kalman filter. Simulations are provided to demonstrate the effectiveness of the proposed method. |
Description: | This is the author's accepted manuscript. The final published article is available from the link below. Copyright @ 2009 Institution of Mechanical Engineers. |
URI: | http://pii.sagepub.com/content/223/8/1067 http://bura.brunel.ac.uk/handle/2438/8807 |
DOI: | http://dx.doi.org/10.1243/09596518JSCE791 |
ISSN: | 0959-6518 |
Appears in Collections: | Computer Science Dept of Computer Science Research Papers |
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