Localizability of unicycle mobiles robots: an algebraic point of view.

Sert, Hugues; Perruquetti, Wilfrid; Kokosy, Annemarie; Jin, Xin; Palos, Jorge

Document type :

Communication dans un congrès avec actes

Title :

Localizability of unicycle mobiles robots: an algebraic point of view.

Author(s) :

Sert, Hugues [Auteur]
Institut supérieur de l'électronique et du numérique (ISEN)
Non-Asymptotic estimation for online systems [NON-A]
Perruquetti, Wilfrid [Auteur]

Systèmes Non Linéaires et à Retards [SyNeR]
Non-Asymptotic estimation for online systems [NON-A]
Kokosy, Annemarie [Auteur]
Systèmes Non Linéaires et à Retards [SyNeR]
Jin, Xin [Auteur]
Institut supérieur de l'électronique et du numérique (ISEN)
Palos, Jorge [Auteur]
Institut supérieur de l'électronique et du numérique (ISEN)

Conference title :

International Conference on Intelligent Robots and Systems

City :

Vilamoura, Algrave

Country :

Portugal

Start date of the conference :

2012-10-08

Publication date :

2012-10-08

HAL domain(s) :

Informatique [cs]/Robotique [cs.RO]

English abstract : [en]

A single landmark based localization algorithm for unicycle mobile robots was provided in [1]. It is based on the algebraic localizability notion and an efficient differentiation algorithm in noisy environment ([2], [3]). ...
Show more >A single landmark based localization algorithm for unicycle mobile robots was provided in [1]. It is based on the algebraic localizability notion and an efficient differentiation algorithm in noisy environment ([2], [3]). Let us stress that this localization algorithm do not need to know the linear and the angular velocities which are reconstructed by this algorithm using the kinematic model. In this paper, a sensibility study leads to a new fusion algorithm in the multi landmark case us- ing as a basis our posture differentiation based estimator. Some simulations and experimental results are presented in order to prove the effectiveness of the proposed method compared to the well known EKF method.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL

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