Localization of Networked Robot Systems Subject to Random Delay and Packet Loss

被引：0

作者：

Manh Duong Phung ^{[1
]}

Thi Thanh Van Nguyen ^{[1
]}

Thuan Hoang Tran ^{[1
]}

Quang Vinh Tran ^{[1
]}

机构：

[1] VNU Univ Engn & Technol, Hanoi, Vietnam

来源：

2013 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM): MECHATRONICS FOR HUMAN WELLBEING | 2013年

关键词：

Networked robot systems; robot localization; Kalman filter; random delay; packet loss; ARCHITECTURE;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space representation is constructed to describe these mixed uncertainties. Based on it, the optimal linear estimator is developed. The main idea is the derivation of a relevance factor to incorporate delayed measurements to the being estimate. The estimator is then extended for nonlinear systems. The performance of this method is tested within the simulations in MATLAB and the experiments in a real robot system. The good localization results prove the efficiency of the method for the purpose of localization of networked mobile robot.

引用

页码：1442 / 1447

页数：6

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