Please use this identifier to cite or link to this item:
http://hdl.handle.net/11375/31237| Title: | A comprehensive comparison of sigma-point Kalman filters applied on a complex maneuvering road |
| Authors: | Al Shabi M Hatamleh K Al Shaer S Salameh I Gadsden SA |
| Department: | Mechanical Engineering |
| Keywords: | 40 Engineering;4006 Communications Engineering;4009 Electronics, Sensors and Digital Hardware;51 Physical Sciences;5102 Atomic, Molecular and Optical Physics |
| Publication Date: | 17-May-2016 |
| Publisher: | SPIE, the international society for optics and photonics |
| Abstract: | In this paper, a comprehensive comparison is made of the following sigma-point Kalman filters: unscented Kalman filter (UKF), cubature Kalman filter (CKF), and the central difference Kalman filter (CDKF). A simulation based on a complex maneuvering road (an s-path) is used as a benchmark problem. This paper studies the response, stability, robustness, convergence, and computational complexity of the filters. Future work will look at implementing the methods on a robot built for experimentation. |
| URI: | http://hdl.handle.net/11375/31237 |
| metadata.dc.identifier.doi: | https://doi.org/10.1117/12.2224233 |
| ISSN: | 0277-786X 1996-756X |
| Appears in Collections: | Mechanical Engineering Publications |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| 050-gadsden_conf_050.pdf | Published version | 526 kB | Adobe PDF | View/Open |
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