Observability Analysis and Optimal Information Gathering of Mobile Robot Navigation System

Observability and motion planning based on optimal information gathering of mobile robot navigation system is considered in this paper. In order to obtain the minimum standard of observable for the bearing-only mobile robot navigation system, the observability is analyzed in this paper. It is known that the observability analysis can only be used to illustrate the observable condition of mobile robot localization system. However it cannot be used to illustrate which observation is the best for observability. As a result, entropy based optimal information gathering method is introduced in this paper and is used to evaluate the effectiveness and difference of the different observations. Simulation results are presented to verify the effectiveness of the proposed optimal information gathering method.