Measurement Outlier-resistant Mobile Robot Localization

• Published in: International journal of control, automation, and systems Vol. 21; no. 1; pp. 271 - 280
• Main Authors: Lu, Yanyang, Shen, Bo, Shen, Yuxuan, Suo, Jinghui
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.01.2023; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Algorithms; Control; Engineering; Liapunov functions; Localization; Mechatronics; Outliers (statistics); Regular Papers; Robotics; Robots; Saturation; State estimation; 제어계측공학; mobile robot; recursive linear matrix inequality; Localization; saturation function; measurement outliers
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-021-0155-4

This paper is concerned with the measurement outlier (MO)-resistant mobile robot localization (MRL) problem. For the purpose of mitigating the effect of the MOs, a time-varying state estimator is constructed containing a saturation function with variable saturation level. The purpose of this paper is mainly to seek an effective solution to the addressed MRL problem by devising the desired time-varying state estimator which ensures that, over a finite horizon, the estimation error dynamics satisfies the H ∞ performance constraint. By constructing an appropriate Lyapunov function, the existing condition of the estimator is first obtained. Then, the desired state estimator gain is given through the solution to a set of certain matrix inequalities and the MO-resistant MRL algorithm is presented. Finally, an example is conducted to testify the usefulness of the MRL algorithm proposed.