.png){kind=icon}
返回
Sonar-based robot navigation using nonlinear robust observers
.png){kind=icon}
PRE
AI
DOI：10.1016/S0005-1098(03)00089-X.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
This paper addresses the sonar-based navigation of mobile robots. The extended Kalman filtering (EKF) technique is considered, but from a deterministic, nonstochastic, point of view. For this problem, new results are presented on the robustness of the nonlinear observation scheme. The original feature is that the region-of-convergence question is posed in its complete nonlinear framework, that is, considering the dynamics not only of the estimation error xi(t), but also of the covariance matrix P(t). In this way the approach followed makes less conservative the treatment and improves the convergence analysis. The proposed ideas were tested successfully on simulation experiments of a mobile platform. (C) 2003 Elsevier Science Ltd. All rights reserved.
Keyword:
nonlinear observers
extended Kalman filters (EKF)
robustness
sonar-based robot navigation
pose estimation
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
IF:
5.9
论文数:
1.2W
被引数:
5.2W
机构
暂无机构信息
引用论文
The Impact of Hybrid Quarantine Strategies and Delay factor on Viral Prevalence in Computer Networks
OAAI
OAAI分享收藏Relationship between polymer structure and gas transport properties in a series of fluorine-containing aromatic polyamide membranes for oxygen enrichment.png)
Desalination
DesalinationIF0
PREAI
分享收藏Applying the EKF to stochastic differential equations with level effectsEKF在具有水平效应的随机微分方程中的应用AUTOMATICA
AUTOMATICAIF5.9
PREAI
分享收藏分享收藏
查看更多内容