Next Article in Journal
Reliability Evaluation of Multi-State Solar Energy Generating System with Inverters Considering Common Cause Failures
Previous Article in Journal
Kidney Tumor Segmentation Based on DWR-SegFormer
Previous Article in Special Issue
A Novel Paradigm for Controlling Navigation and Walking in Biped Robotics
 
 
Search for Articles:
Title / Keyword
Author / Affiliation / Email
Journal
Article Type
 
 
Advanced Search
 
Section
Special Issue
Volume
Issue
Number
Page
 
Journals
Electronics
Volume 13
Issue 16
10.3390/electronics13163227
electronics-logo
Submit to this Journal Review for this Journal Propose a Special Issue
► Article Menu

Article Menu

share Share announcement Help format_quote Cite question_answer Discuss in SciProfiles
first_page
settings
Order Article Reprints
Font Type:
Arial Georgia Verdana
Font Size:
Aa Aa Aa
Line Spacing:
Column Width:
Background:
Article

A Dynamic Event-Based Recursive State Estimation for Mobile Robot Localization

by
Li Zhu
1,2,
Ruifeng Gao
1,
Cong Huang
1,2,*,
Quan Shi
1 and
Zhenquan Shi
1,*
1
School of Transportation and Civil Engineering, Nantong University, Nantong 226019, China
2
Hai’an Institute of High-Tech Research, Nanjing University, Hai’an 226600, China
*
Authors to whom correspondence should be addressed.
Electronics 2024, 13(16), 3227; https://doi.org/10.3390/electronics13163227
Submission received: 10 July 2024 / Revised: 12 August 2024 / Accepted: 12 August 2024 / Published: 14 August 2024
(This article belongs to the Special Issue Advances in Mobile Robots: Navigation, Motion Planning and Control)
Browse Figures
Versions Notes

Abstract

This paper deals with the recursive state estimation issue for mobile robot localization under a dynamic event-based mechanism. To enhance the utilization of communication resources, a dynamic event-based transmission protocol is utilized to reduce unnecessary measurement transmissions by introducing an auxiliary dynamical variable to adjust threshold parameters. The primary objective of this paper is to develop a dynamic event-based recursive state estimation scheme for the mobile robot localization problem in the presence of the impact of the dynamic event-based mechanism such that an upper bound on the estimation error covariance is firstly guaranteed by using mathematical induction and then is locally minimized by virtue of appropriately choosing the gain parameters. Furthermore, the boundedness analysis of the estimation error is conducted by establishing an evaluation criteria in the mean-squared sense. Finally, an experimental example is conducted to verify the feasibility of the proposed mobile robot localization strategy.
Keywords: constraint communication; event-based mechanism; mobile robot localization; recursive state estimation constraint communication; event-based mechanism; mobile robot localization; recursive state estimation

Share and Cite

MDPI and ACS Style

Zhu, L.; Gao, R.; Huang, C.; Shi, Q.; Shi, Z. A Dynamic Event-Based Recursive State Estimation for Mobile Robot Localization. Electronics 2024, 13, 3227. https://doi.org/10.3390/electronics13163227

AMA Style

Zhu L, Gao R, Huang C, Shi Q, Shi Z. A Dynamic Event-Based Recursive State Estimation for Mobile Robot Localization. Electronics. 2024; 13(16):3227. https://doi.org/10.3390/electronics13163227

Chicago/Turabian Style

Zhu, Li, Ruifeng Gao, Cong Huang, Quan Shi, and Zhenquan Shi. 2024. "A Dynamic Event-Based Recursive State Estimation for Mobile Robot Localization" Electronics 13, no. 16: 3227. https://doi.org/10.3390/electronics13163227

APA Style

Zhu, L., Gao, R., Huang, C., Shi, Q., & Shi, Z. (2024). A Dynamic Event-Based Recursive State Estimation for Mobile Robot Localization. Electronics, 13(16), 3227. https://doi.org/10.3390/electronics13163227

Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details here.

Article Metrics

Back to TopTop