Measurement outlier-resistant mobile robot localization using multiple Doppler-azimuth radars under round-robin...

Area of Science:

• Robotics
• Control Systems Engineering
• Signal Processing

Background:

• Mobile robot localization is crucial for autonomous navigation.
• Traditional methods struggle with measurement outliers and communication congestion.
• Doppler-azimuth radars offer rich data but require robust processing.

Purpose of the Study:

• To develop an outlier-resistant mobile robot localization system.
• To mitigate communication congestion using a round-robin protocol (R-RP).
• To guarantee finite-horizon H∞ performance for localization error.

Main Methods:

• Utilizing multiple Doppler-azimuth radars on the robot platform.
• Implementing a time-varying state estimator with a saturation function.
• Employing a Lyapunov function and linear matrix inequalities (LMIs) for estimator design.
• Developing a robot localization algorithm based on the devised estimator.

Main Results:

• A novel time-varying state estimator was constructed.
• Sufficient conditions for H∞ performance were established using Lyapunov analysis.
• The estimator design was achieved via solving linear matrix inequalities.
• Simulations demonstrated the effectiveness of the proposed localization algorithm.

Conclusions:

• The proposed method provides a practicable and effective solution for outlier-resistant mobile robot localization.
• The developed estimator ensures robust performance under communication constraints.
• The H∞ performance guarantee enhances the reliability of robot navigation systems.