移動ロボットのための非線形未知入力・状態推定アルゴリズム
Nonlinear Unknown Input and State Estimation Algorithm in Mobile Robots
非線形動力学モデルを持つ移動ロボットにおいて、センサとアクチュエータの異常を検出・定量化する未知入力・状態推定アルゴリズムを提案し、2種類の移動ロボットへの適用例を示した技術報告。
著者: Pinyao Guo, Hunmin Kim, Nurali Virani, Jun Xu, Minghui Zhu, Peng Liu
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
This technical report provides the description and the derivation of a novel nonlinear unknown input and state estimation algorithm (NUISE) for mobile robots. The algorithm is designed for real-world robots with nonlinear dynamic models and subject to stochastic noises on sensing and actuation. Leveraging sensor readings and planned control commands, the algorithm detects and quantifies anomalies on both sensors and actuators. Later, we elaborate the dynamic models of two distinctive mobile robots for the purpose of demonstrating the application of NUISE. This report serves as a supplementary document for [1].
