Unknown Input H$_{\bm \infty}$ Observer-Based Localization of a Mobile Robot With Sensor Failure

摘要

A mobile robot localization can be realized by integrating sensors such as an inertial measurement unit (IMU) and external reference sensors. However, the IMU may occasionally fail due to various reasons such as its sudden movement and electromagnetic interference. In this paper, we develop a discrete-time H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> filter with an unknown input observer to handle failure in the IMU. The developed filter is implemented for the mobile robot localization using an integration of a wireless sensor network and an IMU. Through actual experimental tests, the performance of the proposed mobile robot localization scheme is evaluated.