Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Motion Estimation Considering Uncertain Time Delayed Measurements for Remote Control

원격조종을 위해 불확실한 시간 지연 측정값을 고려한 모션 추정 방법

  • Published : 2008.08.01
Download PDF
⟨ Previous Next ⟩

Abstract

Motion estimation is crucial in a remote control for its convenience or accuracy. Time delays, however, can occur in the problem because data communication is required through a network. In this paper, state estimation problem with uncertain time delayed measurements is addressed. In dynamic system with noise, after taking measurements, it often requires some time until that is available in the filter algorithm. Standard filters not considering this time delays cannot be used since the current measurement is related with a past state. These delayed measurements are solved with augmented extended Kalman filter, and the uncertainty of delayed time is also resolved based on an explicit formulation. The proposed method is analyzed and verified by simulations.

Keywords

References

  1. S. Thrun, W. Burgard and D. Fox, Probabilistic Robotics, The MIT Press, 2005
  2. H. Durrant-Whyte and T. Bailey, 'Simultaneous localization and mapping: Part I,' IEEE Robotics and Automation Magazine, vol. 13, issue 2, pp. 99-108, June 2006 https://doi.org/10.1109/MRA.2006.1638022
  3. Y. Bar-Shalom, 'Update with out-of-sequence measurements in tracking: Exact solution,' IEEE Transactions on Aerospace and Electronic Systems, vol. 38, no. 3, pp. 769-778, 2002 https://doi.org/10.1109/TAES.2002.1039398
  4. Y. Bar-Shalom, H. Chen, and M. Mallick, 'One-step solution for multistep out-of-Sequence-measurement problem in tracking,' IEEE Transactions on Aerospace and Electronic Systems, vol. 40, no. 1, pp. 27-37, 2004 https://doi.org/10.1109/TAES.2004.1292140
  5. K. Zhang, X. Rong Li, and Y. Zhu, 'Optimal update with out-of-sequence measurements,' IEEE Transactions on Signal Processing, vol. 53, no. 6, pp. 1992-2004, June 2005 https://doi.org/10.1109/TSP.2005.847830
  6. T. Larsen, N. Andersen, O. Ravn, and N. Poulsen, 'Incorporation of time delayed measurements in a discrete-time Kalman filter,' Proceedings of the 37th IEEE Conference on Decision & Control, pp. 3972-3977, 1998
  7. S. Challa, R. Evans, and X. Wang, 'A bayesian solution and its approximations to out-of-sequence measurement problems,' Information Fusion, vol. 4, issue 3, pp. 185-199, Sept. 2003 https://doi.org/10.1016/S1566-2535(03)00037-X
  8. S. Julier and J. Uhlmann, 'Fusion of time delyed measurements with uncertain time delays,' Proceedings of the 2005 American Control Conference, pp. 4028- 4033, 2005
  9. Y. Bar-Shalom and T. Fortmann, Tracking and Data Association, ACADEMIC PRESS, INC., Orlando, 1988
  10. Z. Song, Y. Zweiri, L. Seneviratne, and K. Althoefer, 'Non-linear observer for slip estimation of skid-steering vehicles,' Proceedings of the 2006 IEEE Conference on Robotics and Automation, pp. 1499-1503, 2006