제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제14권8호
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  • Pages.792-799
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  • 2008
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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원격조종을 위해 불확실한 시간 지연 측정값을 고려한 모션 추정 방법

Motion Estimation Considering Uncertain Time Delayed Measurements for Remote Control

  • 발행 : 2008.08.01
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초록

Motion estimation is crucial in a remote control for its convenience or accuracy. Time delays, however, can occur in the problem because data communication is required through a network. In this paper, state estimation problem with uncertain time delayed measurements is addressed. In dynamic system with noise, after taking measurements, it often requires some time until that is available in the filter algorithm. Standard filters not considering this time delays cannot be used since the current measurement is related with a past state. These delayed measurements are solved with augmented extended Kalman filter, and the uncertainty of delayed time is also resolved based on an explicit formulation. The proposed method is analyzed and verified by simulations.

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참고문헌

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