Continuous-Discrete High-Gain Extended Kalman Filter for Mobile Robots with Asynchronous Outputs

Aïda Feddaoui-Papin (1, 2) , Nicolas Boizot (1, 2) , Eric Busvelle (1, 2) , Vincent Hugel (3)

1 LIS - Laboratoire d'Informatique et Systèmes
2 CDE - Contrôle et Diagnostic pour l’Environnement
3 COSMER - Laboratoire Conception des Systèmes Mécaniques et Robotiques - EA 7398

This paper details the implementation of an asynchronous high-gain Kalman filter on a mobile robot test platform. The presented study consists of reconstructing the path followed by a mobile robot. The observer algorithm is tailored from our previous theoretical developments to fit the problem under consideration. Two experiments of path reconstruction are carried out, using respectively a predefined trajectory and a joystick controlled trajectory. The estimation results are presented after offline processing. They show that our algorithm can be applied with success in the field of mobile robot navigation in the presence of asynchronous measurements.

Domains: Automatic; Optimization and Control [math.OC]; Engineering Sciences [physics]

Aïda Feddaoui-Papin, Nicolas Boizot, Eric Busvelle, Vincent Hugel. Continuous-Discrete High-Gain Extended Kalman Filter for Mobile Robots with Asynchronous Outputs. 2019 8th International Conference on Systems and Control (ICSC), Oct 2019, Marrakech, Morocco. ⟨hal-02150425v2⟩