Abstract:
In this paper, we propose a novel distributed orientation estimation method of rigid bodies in n-dimensional space using only relative orientation information. For the or...Show MoreMetadata
Abstract:
In this paper, we propose a novel distributed orientation estimation method of rigid bodies in n-dimensional space using only relative orientation information. For the orientation estimation, n auxiliary variables for each agent are required. A rotation matrix which identifies orientation of local frame with respect to the common frame is obtained by transforming auxiliary variables with the Gram-Schmidt procedure. Since the auxiliary variables are defined on vector space, a consensus-based control law for auxiliary variables achieves a global convergence. Although there exist initial values of auxiliary variables such that auxiliary variables converge to undesired points, we show that the solution of proposed algorithm can be obtained for almost all initial values.
Published in: 2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)
Date of Conference: 13-15 November 2016
Date Added to IEEE Xplore: 02 February 2017
ISBN Information: