• DocumentCode
    3773508
  • Title

    Accuracy Optimization of UKF Algorithms in Mobile-Robot System

  • Author

    Yanbing Wang;Zhiguo Shi

  • Author_Institution
    Sch. of Comput. &
  • Volume
    1
  • fYear
    2015
  • Firstpage
    435
  • Lastpage
    438
  • Abstract
    Calculating Unscented Kalman Filter for each iteration of the filter should cost a lot of computing resources, which will delay the entire UKF compute cycles, and reduce the system timeliness. And also the Kalman Filter is easy to diverge. Improving the UT transform can reduce its computational complexity, and introducing attenuation factor can prevent the filter divergence. Finally, the simulation was validated.
  • Keywords
    "Filtering algorithms","Computational modeling","Kalman filters","Attenuation","Transforms","Covariance matrices"
  • Publisher
    ieee
  • Conference_Titel
    Computational Intelligence and Design (ISCID), 2015 8th International Symposium on
  • Print_ISBN
    978-1-4673-9586-1
  • Type

    conf

  • DOI
    10.1109/ISCID.2015.50
  • Filename
    7468986
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3773508