Localization of networked robot systems subject to random delay and packet loss

摘要

This paper deals with the localization problem of mobile robot subject tocommunication delay and packet loss. The delay and loss may appear in a randomfashion in both control inputs and observation measurements. A unifiedstate-space representation is constructed to describe these mixeduncertainties. Based on it, the optimal linear estimator is developed. The mainidea is the derivation of a relevance factor to incorporate delayedmeasurements to the being estimate. The estimator is then extended fornonlinear systems. The performance of this method is tested within thesimulations in MATLAB and the experiments in a real robot system. The goodlocalization results prove the efficiency of the method for the purpose oflocalization of networked mobile robot.