Observability and active observers for
mobile robotic systems
David A. Anisi and Xiaoming Hu
Optimization and Systems Theory, Royal Institute of
Technology, Stockholm, Sweden
ABSTRACT:
An important class of non-uniformly observable systems come from
applications in mobile robotics. In this paper, the problem of active
observer design for such systems is considered. The set of feasible
configurations and the set of output flow equivalent states is defined.
It is shown that the inter-relation between these two sets may serve as
the basis for design of active observers. The proposed observer design
method is illustrated by considering a unicycle robot model,
equipped with a set of range-measuring sensors.