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Attractive Ellipsoid Method Controller under Noised Measurements for SLAM
Hussain Alazki,Eric Hernández,Juan M. Ibarra,Alexander Poznyak 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.6
This paper presents a novel algorithm for Simultaneous Localization and Mapping (SLAM) of mobilerobots. The proposed algorithm, termed as SLAM using on Attractive Ellipsoid Method (AEM) and Luenbergerfilter-type application with nonlinear models, under the hypothesis that errors affecting all sensor’s measurementsand robot’s motions are unknown-but-bounded. We suggest to select the best parameters of the suggested observerproviding a minimal size of this attractive ellipsoid. It is shown that this optimization problem may be converted intothe trace optimization of this attractive ellipsoid under some specific constraints of a set of LMI’s (Linear MatrixInequalities). Simulated indoor experiments are used to demonstrate the performance of the proposed algorithm.