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NONLINEAR ESTIMATION METHODS FOR AUTONOMOUS TRACKED VEHICLE WITH SLIP
Zhou B(周波); Han JD(韩建达)
Department机器人学研究室
Source PublicationChinese Journal of Mechanical Engineering
ISSN1000-9345
2007
Volume20Issue:4Pages:1-7
Indexed ByEI ; CSCD
EI Accession number20073710810672
CSCD IDCSCD:3131853
Contribution Rank1
Funding OrganizationThis project is supported by National Hi-tech Research and Development Program of China(863 program,No.2006AA04Z215).
KeywordTracked Vehicle Nonlinear Estimation Kalman Filter Particle Filter Set-membership Filter
AbstractIn order to achieve precise,robust autonomous guidance and control of a tracked vehicle,a kinematic model with longitudinal and lateral slip is established,Four different nonlinear filters are used to estimate both state vector and time-varying parameter vector of the created model jointly.The first filter is the well-known extended Kalman filter.The second filter is an unscented version of the Kalman filter.The third one is a particle filter using the unscented Kalman filter to generate the importance proposal distribution.The last one is a novel and guaranteed filter that uses a linear set-membership estimator and can give an ellipsoid set in which the true state lies.The four different approaches have different complexities,behavior and advantages that are surveyed and compared.
Language英语
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7383
Collection机器人学研究室
Recommended Citation
GB/T 7714
Zhou B,Han JD. NONLINEAR ESTIMATION METHODS FOR AUTONOMOUS TRACKED VEHICLE WITH SLIP[J]. Chinese Journal of Mechanical Engineering,2007,20(4):1-7.
APA Zhou B,&Han JD.(2007).NONLINEAR ESTIMATION METHODS FOR AUTONOMOUS TRACKED VEHICLE WITH SLIP.Chinese Journal of Mechanical Engineering,20(4),1-7.
MLA Zhou B,et al."NONLINEAR ESTIMATION METHODS FOR AUTONOMOUS TRACKED VEHICLE WITH SLIP".Chinese Journal of Mechanical Engineering 20.4(2007):1-7.
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