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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.
ISSN: 0959-6518
Appears in Collections:Computer Science
Dept of Computer Science Research Papers

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