Journal
IEEE CONTROL SYSTEMS LETTERS
Volume 7, Issue -, Pages 2503-2508Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LCSYS.2023.3286956
Keywords
Observers for nonlinear systems; estimation; autonomous vehicles
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In this paper, a scalable dynamic bearing estimator is proposed to obtain the relative bearing of static landmarks in real-time. Convergence analysis of the estimator is provided using contraction theory, along with upper and lower bounds for the estimator gain. Numerical simulations demonstrate the effectiveness of the proposed method.
Navigation and exploration within unknown environments are typical examples in which simultaneous localization and mapping (SLAM) algorithms are applied. When mobile agents deploy only range sensors without bearing information, the agents must estimate the bearing using the online distance measurement for the localization and mapping purposes. In this letter, we propose a scalable dynamic bearing estimator to obtain the relative bearing of the static landmarks in the local coordinate frame of a moving agent in real-time. Using contraction theory, we provide convergence analysis of the proposed range-only bearing estimator and present upper and lower-bound for the estimator gain. Numerical simulations demonstrate the effectiveness of the proposed method.
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