论文标题
对范围测量的非独立工具的不可区分轨迹的分析
Analysis of Indistinguishable Trajectories of a Nonholonomic Vehicle Subject to Range Measurements
论文作者
论文摘要
我们建议对在平面表面移动的车辆进行全球构造性分析。假设车辆遵循的轨迹可以通过对照输入的顺序和一些间歇性的范围测量值来唯一地识别，我们可以将轨迹模拟为刚体的刚体，这些刚体可能会在平面中旋转和平移。这样，鉴于收集的测量值，可以将本地化问题减少到找到从已知参考框架到世界参考框架的轨迹存在独特的旋转式翻译的条件。如本文所述，这些条件可以用轨迹的形状，范围传感器的布局以及从每个轨迹收集的测量数量来表达。该方法适用于大型运动学模型。为了关注独轮车运动学的特殊情况，我们提供了其他局部施工结果。
We propose a global constructibility analysis for a vehicle moving on a planar surface. Assuming that the vehicle follows a trajectory that can be uniquely identified by the sequence of control inputs and by some intermittent ranging measurements from known points in the environment, we can model the trajectory as a rigid body subject to rotation and translation in the plane. This way, the localisation problem can be reduced to finding the conditions for the existence of a unique roto-translation of the trajectory from a known reference frame to the world reference frame, given the collected measurements. As discussed in this paper, such conditions can be expressed in terms of the shape of the trajectory, of the layout of the ranging sensors, and of the numbers of measurements collected from each of them. The approach applies to a large class of kinematic models. Focusing on the special case of unicycle kinematics, we provide additional local constructibility results.
