A comprehensive comparison of sigma-point Kalman filters applied on a complex maneuvering road

dc.contributor.author	Al Shabi M
dc.contributor.author	Hatamleh K
dc.contributor.author	Al Shaer S
dc.contributor.author	Salameh I
dc.contributor.author	Gadsden SA
dc.contributor.department	Mechanical Engineering
dc.contributor.editor	Kadar I
dc.date.accessioned	2025-02-27T20:18:42Z
dc.date.available	2025-02-27T20:18:42Z
dc.date.issued	2016-05-17
dc.date.updated	2025-02-27T20:18:42Z
dc.description.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.
dc.identifier.doi	https://doi.org/10.1117/12.2224233
dc.identifier.issn	0277-786X
dc.identifier.issn	1996-756X
dc.identifier.uri	http://hdl.handle.net/11375/31237
dc.publisher	SPIE, the international society for optics and photonics
dc.subject	40 Engineering
dc.subject	4006 Communications Engineering
dc.subject	4009 Electronics, Sensors and Digital Hardware
dc.subject	51 Physical Sciences
dc.subject	5102 Atomic, Molecular and Optical Physics
dc.title	A comprehensive comparison of sigma-point Kalman filters applied on a complex maneuvering road
dc.type	Article

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