Sonar-based robot navigation using nonlinear robust observers (Q1398394)
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scientific article; zbMATH DE number 1956142
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Sonar-based robot navigation using nonlinear robust observers |
scientific article; zbMATH DE number 1956142 |
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Sonar-based robot navigation using nonlinear robust observers (English)
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29 July 2003
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For applications to sonar-based navigation of mobile robots, a convergence analysis of the nonlinear EFK-observer is given. Treating the problem from the deterministic point of view, results on the robustness of the nonlinear observation scheme are presented, where a strong reduction of the conservativeness is obtained. A simulation example is given (mobile platform).
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nonlinear observers
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extended Kalman filters (EKF)
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robustness
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sonar-based robot navigation
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pose estimation
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0.98174345
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0.85286784
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