Guaranteed mobile robot tracking using interval analysis

Michel Kieffer (1, 2, 3) , Luc Jaulin (4, 5, 6) , Eric Walter (1) , Dominique Meizel (6)

1 L2S - Laboratoire des signaux et systèmes
2 LTCI - Laboratoire Traitement et Communication de l'Information
3 IUF - Institut universitaire de France
4 STIC - Département STIC [Brest]
5 Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
6 LISA - Laboratoire d'Ingéniérie des Systèmes Automatisés

The problem considered here is state estimation in the presence of bounded process and measurement noise. A new nonlinear state estimator, based on interval analysis and the notion of set inversion, is applied to robot localization and tracking. This estimator evaluates a set guaranteed to contain all values of the state that are consistent with the available observations, given the noise bounds and some possibility very large set containing the initial value of the state. Three situations are considered to illustrate the properties of the estimator.

Mots clés: Bound-error estimation; Interval analysis; Robot localization; Robot tracking; State estimation

Domaines: Sciences de l'ingénieur [physics]

Michel Kieffer, Luc Jaulin, Eric Walter, Dominique Meizel. Guaranteed mobile robot tracking using interval analysis. MISC'99, Workshop on Application of Interval Analysis to System and Control, Feb 1999, Girona, Spain. pp.347-360. ⟨hal-00844601⟩