01236nas a2200169 4500008004100000245005700041210005000098520067300148653002400821653002900845653002600874100001500900700002000915700001400935700001800949856009900967 1998 eng d00aOn the observability of mobile vehicles localization0 aobservability of mobile vehicles localization3 a
In this paper, we consider the problem of localizing a mobile vehicle moving in an unstructured environment, based on triangulation measurements derived from processed optical information. The problem is shown to be intrinsically nonlinear, in the sense that the linear approximation of the system has different structural properties than the original model. In particular, linearized approximations are non–observable, while results obtained from differential–geometric nonlinear system theory prove the possibility of reconstructing the position and orientation of the vehicle and the position of the obstacles in the environment from optical information.
10aAutonomous Vehicles10aLocalization and Mapping10aSensors and Observers1 aBicchi, A.1 aPrattichizzo, D1 aMarigo, A1 aBalestrino, A uhttp://www.centropiaggio.unipi.it/publications/observability-mobile-vehicles-localization.html