Stability and robustness analysis tools for marine robot localization and mapping applications
Name
613211731-MIT.pdf
Description
Full printable version
Size
8.18 MB
Format
Adobe PDF
Checksum (MD5)
0cf3d9e0d41c6116765b5872c1c2b8b5
Author(s)
Englot, Brendan J
Advisor(s)
Franz Hover.
Date Issued
2009
Publisher
Massachusetts Institute of Technology
Abstract
The aim of this analysis is to explore the fundamental stability issues of a robotic vehicle carrying out localization, mapping, and feedback control in a perturbation-filled environment. Motivated by the application of an ocean vehicle performing an autonomous ship hull inspection, a planar vehicle model performs localization using point features from a given map. Cases in which the agent must update the map are also considered. The stability of the marine robot controller and estimator duo is investigated using a pair of theorems requiring boundedness and convergence of the transition matrix Euclidean norm. These theorems yield a stability test for the feedback controller. Perturbations are then considered using a theorem on the convergence on the perturbed system transition matrix, yielding a robustness test for the estimator. Together, these tests form a set of tools which can be used in planning and evaluating the robustness of marine vehicle survey trajectories, which is demonstrated through experiment. An augmented A* kinodynamic path-planning algorithm is then implemented to search the control input space for the globally robustness-optimal survey trajectory.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student submitted PDF version of thesis.
Includes bibliographical references (p. 114-118).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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