A hybrid observer for localization of mobile vehicles with asynchronous measurements

Alonge, F.; D’Ippolito, Filippo; Garraffa, Giovanni; Sferlazza, Antonino

doi:10.1002/asjc.2071

Cited by 19 publications

(14 citation statements)

References 31 publications

(49 reference statements)

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“…Moreover, also, the fact that the time between two consecutive measurements is not constant, but it can vary randomly, has to be considered. For these reasons, the data fusion process between data given by the above-mentioned devices is governed by the hybrid nonlinear observer described in the literature, 14 based on the strap-down model of the IMU. In particular, the observer combines a nonlinear Luenberger-type observer (NLTO), which gives the state estimate, and a updating mechanism, which carries out a corrective action on the NLTO when new position and velocity vector measurements arrive from GPS.…”

Section: Data Fusion Of Imu and Gps Measurementsmentioning

confidence: 99%

“…This is bargained for using the hybrid nonlinear observer illustrated in the literature. 14 Besides this, the robustness of the designed control law is another aspect, which increases the effectiveness of the controller and the feasibility of its experimental implementation. To the best of the authors' knowledge, the control architecture proposed in this work, for quadcopter control, is not described in the literature.…”

Section: Introductionmentioning

confidence: 99%

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Trajectory robust control of autonomous quadcopters based on model decoupling and disturbance estimation

Alonge

D’Ippolito

Fagiolini

et al. 2021

International Journal of Advanced Robotic Systems

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In this article, a systematic procedure is given for determining a robust motion control law for autonomous quadcopters, starting from an input–output linearizable model. In particular, the suggested technique can be considered as a robust feedback linearization (FL), where the nonlinear state-feedback terms, which contain the aerodynamic forces and moments and other unknown disturbances, are estimated online by means of extended state observers. Therefore, the control system is made robust against unmodelled dynamics and endogenous as well as exogenous disturbances. The desired closed-loop dynamics is obtained by means of pole assignment. To have a feasible control action, that is, the forces produced by the motors belong to an admissible set of forces, suitable reference signals are generated by means of differentiators supplied by the desired trajectory. The proposed control algorithm is tested by means of simulation experiments on a Raspberry-PI board by means of the hardware-in-the-loop method, showing the effectiveness of the proposed approach. Moreover, it is compared with the standard FL control method, where the above nonlinear terms are computed using nominal parameters and the aerodynamical disturbances are neglected. The comparison shows that the control algorithm based on the online estimation of the above nonlinear state-feedback terms gives better static and dynamic behaviour over the standard FL control method.

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Section: Data Fusion Of Imu and Gps Measurementsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Trajectory robust control of autonomous quadcopters based on model decoupling and disturbance estimation

Alonge

D’Ippolito

Fagiolini

et al. 2021

International Journal of Advanced Robotic Systems

Self Cite

View full text Add to dashboard Cite

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“…Theorem 1: In the noise free case, the continuous-discrete observer (12) provides asymptotic convergence to zero of the estimation error x T −x T…”

Section: B Extended Dynamics and Observer Designmentioning

confidence: 99%

“…2.3.1], which only uses the camera measurements and ignores the IMU data. The second set of dynamics is derived based on the hybrid time observer developed in [11], [12] but could have alternatively been written using an extended Kalman filter. In contrast to the first observer, the second observer combines the discretetime position measurements with the velocity and acceleration IMU measurements.…”

Section: Introductionmentioning

confidence: 99%

A modular architecture for mobile robots equipped with continuous-discrete observers

Vinco

Braun

Zaccarian

2021

2021 IEEE International Conference on Mechatronics (ICM)

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We illustrate the design and development of a modular hardware/software system for multiple unicycle-like mobile robots localized via a set of camera modules. We describe the architecture and calibration of the hardware/software setup and then discuss two continuous-discrete observation laws for the distributed estimation of the robot positions. We show that a suitable model exploiting the onboard IMU measurements of the robots, enables obtaining an estimation error that is a cascade of two linear systems, for which we can show global exponential convergence to zero. The results are illustrated by our experimental tests.

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“…By fusing the IMU with an absolute localisation method, the measurement accuracy of acceleration, velocity and displacement may be improved [17,[19][20][21]. The IMU may also be used to fill gaps between the measurements of an absolute sensor, which is useful for fast acting control systems [22] and to rebuild a 2D or 3D scan [23]. 9-axis IMUs are composed of a 3-axis accelerometer, 3-axis gyro and 3-axis compass.…”

Section: Analysis Of Relevant Localisation Technologiesmentioning

confidence: 99%

MallARD: An Autonomous Aquatic Surface Vehicle for Inspection and Monitoring of Wet Nuclear Storage Facilities

et al. 2019

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Inspection and monitoring of wet nuclear storage facilities such as spent fuel pools or wet silos is performed for a variety of reasons, including nuclear security and characterisation of storage facilities prior to decommissioning. Until now such tasks have been performed by personnel or, if the risk to health is too high, avoided. Tasks are often repetitive, time-consuming and potentially dangerous, making them suited to being performed by an autonomous robot. Previous autonomous surface vehicles (ASVs) have been designed for operation in natural outdoor environments and lack the localisation and tracking accuracy necessary for operation in a wet nuclear storage facility. In this paper the environmental and operational conditions are analysed, applicable localisation technologies selected and a unique aquatic autonomous surface vehicle (ASV) is designed and constructed. The ASV developed is holonomic, uses a LiDAR for localisation and features a robust trajectory tracking controller. In a series of experiments the mean error between the present ASV’s planned path and the actual path is approximately 1 cm, which is two orders of magnitude lower than previous ASVs. As well as lab testing, the ASV has been used in two deployments, one of which was in an active spent fuel pool.

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A hybrid observer for localization of mobile vehicles with asynchronous measurements

Cited by 19 publications

References 31 publications

Trajectory robust control of autonomous quadcopters based on model decoupling and disturbance estimation

Trajectory robust control of autonomous quadcopters based on model decoupling and disturbance estimation

A modular architecture for mobile robots equipped with continuous-discrete observers

MallARD: An Autonomous Aquatic Surface Vehicle for Inspection and Monitoring of Wet Nuclear Storage Facilities

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