By Topic

State estimation of non-holonomic mobile robots using nonlinear observers

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Ishikawa, M. ; Dept. of Mech. & Environ. Inf., Tokyo Inst. of Technol., Japan ; Sampei, M.

This paper investigates the position estimation of wheeled mobile robots governed by nonholonomic constraints. Using time-scale transformation and a proper choice of state variables, the problem is formulated as state estimation of nonlinear SISO systems. To deal with this problem, we construct the nonlinear observers via Lyapunov's direct method. Simulation results are also provided

Published in:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:2 )

Date of Conference:

21-27 May 1995