کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
715792 892209 2013 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Preliminary results on the active pose estimation of underwater vehicles from range measurements
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
Preliminary results on the active pose estimation of underwater vehicles from range measurements
چکیده انگلیسی

Recent studies relative to range-only localization in underwater robotics applications have focused primarily on (nonlinear) observability analysis. In particular, local weak observability is guaranteed as long as the motion of the system to be localized is sufficiently rich, i.e. persistency of excitation conditions need to be satisfied. These conditions typically depend on the initial state of the system and on its inputs. Once that the challenging problem of identifying the necessary initial state and input constraints for guaranteeing local weak observability has been solved, state estimation can be performed resorting to linear (Kalman-like) filters. Yet the convergence of such state estimation approaches is local. Building on recent results in this area, this paper addresses the problem of designing input signals for a class of underactuated underwater vehicles allowing global range-only pose estimation.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC Proceedings Volumes - Volume 46, Issue 33, 2013, Pages 292–297
نویسندگان
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