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

Yanyang Lu1, Hamid Reza Karimi2, Hasan Komurcugil3

  • 1School of Intelligent Manufacturing, Luoyang Institute of Science and Technology, Luoyang, 471023, China.

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Summary

This study introduces an outlier-resistant mobile robot localization method using Doppler-azimuth radars and a round-robin protocol (R-RP). The developed estimator ensures finite-horizon H∞ performance for robust robot navigation.

Keywords:
Doppler-azimuth radarLocalizationMeasurement outlierMobile robotRecursive linear matrix inequalityRound-robin protocol

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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.