Observability Analysis and Optimal Information Gathering of Mobile Robot Navigation System

被引：0

作者：

Shan, Jinjun ^{[1
]}

Sun, Qian ^{[2
]}

机构：

[1] York Univ, Lassoed Sch Engn, 4700 Keele St, Toronto, ON M3J 1P3, Canada

[2] Harbin Engn Univ, Coll Automat, Harbin 150001, Heilongjiang, Peoples R China

来源：

2015 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION | 2015年

关键词：

mobile robot; navigation; motion planning; observability; optimal information gathering;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Observability and motion planning based on optimal information gathering of mobile robot navigation system is considered in this paper. In order to obtain the minimum standard of observable for the bearing-only mobile robot navigation system, the observability is analyzed in this paper. It is known that the observability analysis can only be used to illustrate the observable condition of mobile robot localization system. However it cannot be used to illustrate which observation is the best for observability. As a result, entropy based optimal information gathering method is introduced in this paper and is used to evaluate the effectiveness and difference of the different observations. Simulation results are presented to verify the effectiveness of the proposed optimal information gathering method.

引用

页码：731 / 736

页数：6

共 21 条

[1] A Complete Observability Analysis of the Planar Bearing Localization and Mapping for Visual Servoing with Known Camera Velocities Regular Paper [J].

Belo, Felipe A. W. ;

Salaris, Paolo ;

Fontanelli, Daniele ;

Bicchi, Antonio .

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2013, 10

[2]

Bicchi A, 2004, SPR TRA ADV ROBOT, V10, P223

[3]

Bicchi A., 1998, Proceedings of the 6th IEEE Mediterranean Conference. Theory and Practice of Control and Systems, P142

[4] Observability analysis and active control for airborne SLAM [J].

Bryson, Mitch ;

Sukkarieh, Salah .

IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 2008, 44 (01) :261-280

[5] A probabilistic approach to collaborative multi-robot localization [J].

Fox, D ;

Burgard, W ;

Kruppa, H ;

Thrun, S .

AUTONOMOUS ROBOTS, 2000, 8 (03) :325-344

[6]

Guan X, 2005, 2005 International Conference on Intelligent Sensing and Information Processing, Proceedings, P56

[7]

Howard A, 2002, 2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS, P434, DOI 10.1109/IRDS.2002.1041428

[8]

HUANG GP, 2008, ROB AUT 2008 ICRA 20, P473

[9] Observability-based consistent EKF estimators for multi-robot cooperative localization [J].

Huang, Guoquan P. ;

Trawny, Nikolas ;

Mourikis, Anastasios I. ;

Roumeliotis, Stergios I. .

AUTONOMOUS ROBOTS, 2011, 30 (01) :99-122

[10]

Kassas Z., 2013, P AIAA GUID NAV CONT, P4551

← 1 2 3 →