期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 19, 期 6, 页码 1830-1838出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2014.2298034
关键词
Localization; sensor failure; unknown input observer
类别
资金
- National Research Foundation of Korea [NRF-2013R1A2A2A01067449]
- National Research Foundation of Korea [2013R1A2A2A01067449] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
A mobile robot localization can be realized by integrating sensors such as an inertial measurement unit (IMU) and external reference sensors. However, the IMU may occasionally fail due to various reasons such as its sudden movement and electromagnetic interference. In this paper, we develop a discrete-time H-infinity filter with an unknown input observer to handle failure in the IMU. The developed filter is implemented for the mobile robot localization using an integration of a wireless sensor network and an IMU. Through actual experimental tests, the performance of the proposed mobile robot localization scheme is evaluated.
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