A Dynamic Event-Based Recursive State Estimation for Mobile Robot Localization

被引:0
|
作者
Zhu, Li [1 ,2 ]
Gao, Ruifeng [1 ]
Huang, Cong [1 ,2 ]
Shi, Quan [1 ]
Shi, Zhenquan [1 ]
机构
[1] Nantong Univ, Sch Transportat & Civil Engn, Nantong 226019, Peoples R China
[2] Nanjing Univ, Haian Inst High Tech Res, Haian 226600, Peoples R China
基金
中国国家自然科学基金;
关键词
constraint communication; event-based mechanism; mobile robot localization; recursive state estimation; SYSTEMS;
D O I
10.3390/electronics13163227
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper deals with the recursive state estimation issue for mobile robot localization under a dynamic event-based mechanism. To enhance the utilization of communication resources, a dynamic event-based transmission protocol is utilized to reduce unnecessary measurement transmissions by introducing an auxiliary dynamical variable to adjust threshold parameters. The primary objective of this paper is to develop a dynamic event-based recursive state estimation scheme for the mobile robot localization problem in the presence of the impact of the dynamic event-based mechanism such that an upper bound on the estimation error covariance is firstly guaranteed by using mathematical induction and then is locally minimized by virtue of appropriately choosing the gain parameters. Furthermore, the boundedness analysis of the estimation error is conducted by establishing an evaluation criteria in the mean-squared sense. Finally, an experimental example is conducted to verify the feasibility of the proposed mobile robot localization strategy.
引用
收藏
页数:16
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