Guaranteed Performance Nonlinear Observer for Simultaneous Localization and Mapping
Hashim A. Hashim
Abstract
A geometric nonlinear observer algorithm for Simultaneous Localization and Mapping (SLAM) developed on the Lie group of SLAM <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">n</sub> (3) is proposed. The presented novel solution estimates the vehicle's pose (i.e., attitude and position) with respect to features simultaneously positioning the reference features in the global frame. The proposed estimator on manifold is characterized by predefined measures of transient and steady-state performance. Dynamically reducing boundaries guide the error function of the system to reduce asymptotically to the origin from its starting position within a large given set. The proposed observer has the ability to use the available velocity and feature measurements directly. Also, it compensates for unknown constant bias attached to velocity measurements. Numerical results reveal effectiveness of the proposed observer.