NONLINEAR ESTIMATION METHODS FOR AUTONOMOUS TRACKED VEHICLE WITH SLIP
文献类型：期刊论文
| 作者 | Zhou B(周波) ; Han JD(韩建达)
|
| 刊名 | Chinese Journal of Mechanical Engineering
 |
| 出版日期 | 2007 |
| 卷号 | 20期号:4页码:1-7 |
| 关键词 | Tracked vehicle Nonlinear estimation Kalman filter Particle filter Set-membership filter |
| ISSN号 | 1000-9345 |
| 产权排序 | 1 |
| 中文摘要 | In order to achieve precise,robust autonomous guidance and control of a tracked vehicle,a kinematic model with longitudinal and lateral slip is established,Four different nonlinear filters are used to estimate both state vector and time-varying parameter vector of the created model jointly.The first filter is the well-known extended Kalman filter.The second filter is an unscented version of the Kalman filter.The third one is a particle filter using the unscented Kalman filter to generate the importance proposal distribution.The last one is a novel and guaranteed filter that uses a linear set-membership estimator and can give an ellipsoid set in which the true state lies.The four different approaches have different complexities,behavior and advantages that are surveyed and compared. |
| 收录类别 | EI ; CSCD |
| 资助信息 | This project is supported by National Hi-tech Research and Development Program of China(863 program,No.2006AA04Z215). |
| 语种 | 英语 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7383]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Zhou B,Han JD. NONLINEAR ESTIMATION METHODS FOR AUTONOMOUS TRACKED VEHICLE WITH SLIP[J]. Chinese Journal of Mechanical Engineering,2007,20(4):1-7. |
| APA | Zhou B,&Han JD.(2007).NONLINEAR ESTIMATION METHODS FOR AUTONOMOUS TRACKED VEHICLE WITH SLIP.Chinese Journal of Mechanical Engineering,20(4),1-7. |
| MLA | Zhou B,et al."NONLINEAR ESTIMATION METHODS FOR AUTONOMOUS TRACKED VEHICLE WITH SLIP".Chinese Journal of Mechanical Engineering 20.4(2007):1-7. |
入库方式： OAI收割
来源：沈阳自动化研究所
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