A New Finite-Horizon H Filtering Approach to Mobile Robot Localization

• Published in: Filtering, Control and Fault Detection with Randomly Occurring Incomplete Information pp. 227 - 245
• Main Authors: Wang, Zidong, Dong, Hongli, Gao, Huijun
• Format: Book Chapter
• Language: English
• Published: United Kingdom John Wiley & Sons, Incorporated 2013; John Wiley & Sons Ltd
• Subjects: logarithmic quantizer; missing measurements; mobile robot location; quantization; recursive Riccati difference equations; stochastic H∞ filtering
• ISBN: 1118647912; 9781118647912
• DOI: 10.1002/9781118650981.ch10

In Chapter 10, a new stochastic H ∞ filtering approach is proposed to deal with the localization problem of the mobile robots modeled by a class of discrete nonlinear time‐varying systems subject to missing measurements and quantization effects. The missing measurements are modeled via a diagonal matrix consisting of a series of mutually independent random variables satisfying certain probabilistic distributions on the interval [0, 1]. The measured output is quantized by a logarithmic quantizer. Attention is focused on the design of a stochastic H ∞ filter such that the H ∞ estimation performance is guaranteed over a given finite‐horizon in the simultaneous presence of plant nonlinearities (in the robot kinematic model and the distance measurements), probabilistic missing measurements, quantization effects, linearization error, and external non‐Gaussian disturbances. A necessary and sufficient condition is first established for the existence of the desired time‐varying filters by virtue of the solvability of certain coupled recursive Riccati difference equations. Both theoretical analysis and simulation results are provided to demonstrate the effectiveness of the proposed localization approach.