Active Observers for Mobile Robotic Systems
(English)Manuscript (Other academic)
An important class of non-uniformly observable systems come from applications in mobile robotics. In this paper, the problem of active observer design for such systems is considered. The set of feasible configurations and the set of output flow equivalent states is defined. It is shown that the inter-relation between these two sets serves as the basis for design of active observers. The proposed observer design method is illustrated by considering a unicycle robot model, equipped with a set of range-measuring sensors.
IdentifiersURN: urn:nbn:se:kth:diva-6266OAI: oai:DiVA.org:kth-6266DiVA: diva2:10936
QC 201006222006-10-152006-10-152010-07-19Bibliographically approved