Abstract
Cooperative localization (CL) algorithms have mainly focused on two-dimensional (2D) vehicle models and have almost uniformly employed only the kinematic model with velocities as inputs, making these algorithms unsuitable for force control problems. We have previously extended a CL algorithm to include a three-dimensional (3D) vehicle kinematic model with the use of quaternions to avoid singularities. In this paper, we extend the algorithm to a full 3D nonlinear dynamic vehicle model, again using quaternions. We evaluate the effectiveness of a CL algorithm and assess its benefits, when the full dynamic model is employed, by running a series of Monte Carlo type simulations with multiple relative pose measurements.
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