Observability-based Motion Planning
نویسندگان
چکیده
Mobility of sensors can be used to improve the information content of measurements when observing a dynamical system. However, as is shown in this paper, the sensor’s motion may, in fact, lead to increased worst-case estimation error. This paper investigates the relationship between the motion of the sensor and the performance of the observability grammian-based estimator, and provides a motion control law that ensures that the worst-case error is non-increasing. In this way, a mobile sensing agent may maneuver to improve its quality of sensing. The proposed motion control and planning strategy is demonstrated and validated via mobile robots equipped with laser scanners.
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