Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
752029 | Systems & Control Letters | 2011 | 9 Pages |
Abstract
This paper addresses the problems of navigation and source localization by mobile agents based on the range to a single source, in addition to relative velocity readings. The contribution of the paper is two-fold: (i) necessary and sufficient conditions on the observability of the nonlinear system are derived, which are useful for trajectory planning and motion control of the agent; and (ii) a nonlinear system, which given the input and output of the system is regarded as linear time-varying, is proposed and a Kalman filter is applied to successfully estimate the system state. Simulation results are presented in the presence of realistic measurement noise that illustrate the performance achieved with the proposed solution.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Pedro Batista, Carlos Silvestre, Paulo Oliveira,