A novel H-infinity filtering for road constrained target tracking

This paper is concerned with the H_∞ filtering for road constrained target tracking problem. The additional information of road can improve the estimation accuracy when it is properly incorporated into the estimation process. In this paper, two constrained H_∞ filtering methods considering the road constraints as prior information are proposed. The new approaches achieve not only higher accuracy, but also robustness against model uncertainty. Two simulation examples are present to illustrate the performance of the proposed approaches.