Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer
Xihang Yu,Sangli Teng,Theodor Chakhachiro,Wenzhe Tong,Tingjun Li,Tzu-Yuan Lin,Sarah Koehler,Manuel Ahumada,Jeffrey M. Walls,Maani Ghaffari,Xihang Yu,Sangli Teng,Theodor Chakhachiro,Wenzhe Tong,Tingjun Li,Tzu-Yuan Lin,Sarah Koehler,Manuel Ahumada,Jeffrey M. Walls,Maani Ghaffari
This paper develops a novel slip estimator using the invariant observer design theory and Disturbance Observer (DOB). The proposed state estimator for mobile robots is fully proprioceptive and combines data from an inertial measurement unit and body velocity within a Right Invariant Extended Kalman Filter (RI-EKF). By embedding the slip velocity into SE3 (3) matrix Lie group, the developed DOB-bas...
