不変カルマンフィルタと外乱オブザーバによる移動ロボットの完全固有受容的なスリップ速度対応状態推定
Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer
IMUと車体速度のみから、不変拡張カルマンフィルタと外乱オブザーバを組み合わせて、異なる地形での速度とスリップ速度をリアルタイム推定する手法を提案した。
著者: Xihang Yu, Sangli Teng, Theodor Chakhachiro, Wenzhe Tong, Tingjun Li, Tzu-Yuan Lin, Sarah Koehler, Manuel Ahumada, Jeffrey M. Walls, Maani Ghaffari
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper develops a novel slip estimator using the invariant observer design theory and Disturbance Observer (DOB). The proposed state estimator for mobile robots is fully proprioceptive and combines data from an inertial measurement unit and body velocity within a Right Invariant Extended Kalman Filter (RI-EKF). By embedding the slip velocity into $\mathrm{SE}_3(3)$ matrix Lie group, the developed DOB-based RI-EKF provides real-time velocity and slip velocity estimates on different terrains. Experimental results using a Husky wheeled robot confirm the mathematical derivations and effectiveness of the proposed method in estimating the observable state variables. Open-source software is available for download and reproducing the presented results.
