Title :
Kalman filters predictive steps comparison for vehicle localization
Author :
Mourllion, Benjamin ; Gruyer, Dominique ; Lambert, Alain ; Glaser, Sébastien
Author_Institution :
LIVIC, INRETS/LCPC, Versailles Satory, France
Abstract :
The aim of this paper is to perform a comparison among several different Kalman filters algorithms designed for nonlinear systems. After presenting the most popular of them and showing its limitations, we introduce some new Kalman filters in order to compare them in the vehicle localization context. This comparison is based on the sole use of their predictive steps that corresponds to the worst case that it can occur in vehicle localization (corrective data are unavailable).
Keywords :
Kalman filters; nonlinear control systems; position control; vehicles; Kalman filters predictive steps; extended Kalman filters; nonlinear systems; vehicle localization; Algorithm design and analysis; Filters; Gaussian noise; Jacobian matrices; Linear systems; Mobile robots; Noise measurement; Nonlinear systems; State estimation; Vehicles; DD1; DD2; EKF; UKF; vehicle localization;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545151
