Robust State and Unknown Input Estimator and Its Application to Robot Localization

摘要

The robot localization problem is typically solved using state estimation techniques, where process and sensing inaccuracies are invariably present. Moreover, disturbances in the sensing and actuating mechanisms add to the uncertainties. Any system may degrade over time, and its parameter values may be ambivalently known. Cumulatively, all these sources of errors and uncertainties are considered as unknown inputs. This work aims to address the unknown inputs using a robust state (pose in the robot localization problem) estimator. The proposed robust state estimator deals with the unknown inputs such that the solution of the estimator is constrained in a way that warrants unbiased state estimates in the presence of the unknown inputs. This article explores the formulation of these constraints and the development of a constrained state estimator for a system, where the unknown inputs appear in both the state transition map (i.e., system model) and the state-output map (i.e., measurement model). The theoretical development of such a strategy stems from the localization problem of a wheeled mobile robot. The residuals of the constrained state estimator developed contain information about the unknown inputs. We conceive a recursive least squares strategy to estimate the unknown inputs simultaneously with the states using this information. Using simulations and experimental studies, we demonstrate the adequacy of our strategy for a differential drive robot.