Publications

Authors:

Vesentini, Federico; Rigo, Damiano; Sansonetto, Nicola; Di Persio, Luca; Muradore, Riccardo

Title:

Minimum-energy switching geometric filter on lie groups for differential-drive wheeled mobile robots

Year:

2024

Type of item:

Articolo in Rivista

Tipologia ANVUR:

Articolo su rivista

Language:

Inglese

Referee:

No

Name of journal:

EUROPEAN JOURNAL OF CONTROL

ISSN of journal:

0947-3580

N° Volume:

80

Page numbers:

185-191

Keyword:

Mobile robotics, Hybrid dynamic models, Stochastic filtering, Kalman filter, Hybrid state-observers

Short description of contents:

Accurate state estimation plays a critical role in various applications, such as tracking, regulation, and fault detection in robotic and mechanical systems. Typically, the Kalman–Bucy filter is used as a linear state observer for this purpose. However, real-world robots often exhibit complex behavior, characterized by a combination of dynamics, making it essential to employ hybrid filters. In this context, the Switching Kalman filter stands out as a well-established solution. In this article we aim to generalize the Brownian-Markov Stochastic Model, a hybrid dynamic model for differential-drive wheeled mobile robots, to the case of a mobile robot whose center of mass is not aligned to the wheels axle middle point, and to design a geometric hybrid state estimator by exploiting the Lie groups theory. The Brownian-Markov Stochastic Model features two modes: ‘‘grip’’ and ‘‘slip’’. These modes correspond to ideal grip and lateral slippage, with transitions governed by a state-dependent Markov chain. To validate the proposed switching filter, we conduct MATLAB® simulations of the robot’s motion in a scenario prone to lateral grip loss, comparing the state estimates produced by the switching geometric filter with those obtained using the switching Kalman filter.

Product ID:

141590

Handle IRIS:

11562/1141606

Last Modified:

October 13, 2024

Bibliographic citation:

Vesentini, Federico; Rigo, Damiano; Sansonetto, Nicola; Di Persio, Luca; Muradore, Riccardo, Minimum-energy switching geometric filter on lie groups for differential-drive wheeled mobile robots «EUROPEAN JOURNAL OF CONTROL» , vol. 80 , 2024 , pp. 185-191

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