Orientation And Velocity Observers For Unicycle Mobile Robots

The problem of estimating the orientation and Cartesian velocity of unicycle-type mobile robots is considered in this paper. Using the Cartesian position and the kinematic model, nonlinear observers are proposed to estimate the orientation angle and the linear velocity of the mobile robot. The proposed observers are designed independently of the control input, thus, they can be applied regarding if an open-loop or closed-loop control scheme is selected. The stability and convergence analysis is carried out by means of Lyapunov's theory. Numerical simulations are presented to show the performance of the proposed approach.