| NONLINEAR ESTIMATION METHODS FOR AUTONOMOUS TRACKED VEHICLE WITH SLIP |
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| 作者姓名： | ZHOU Bo Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate School Chinese Academy of Sciences Beijing China HAN Jianda Robotics Laboratory Shenyang Institute of Automation Chinese Acedemy of Sciences Shenyang China |
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| 作者单位： | ZHOU Bo Robotics Laboratory，Shenyang Institute of Automation，Chinese Academy of Sciences，Shenyang 110016，China Graduate School，Chinese Academy of Sciences，Beijing 100039，China HAN Jianda Robotics Laboratory，Shenyang Institute of Automation，Chinese Acedemy of Sciences，Shenyang 110016，China |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 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.
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| 关 键 词： | 轨道交通 卡尔曼滤波 颗粒滤波器 非线性评估 |
NONLINEAR ESTIMATION METHODS FOR AUTONOMOUS TRACKED VEHICLE WITH SLIP |
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| ZHOU Bo Robotics Laboratory,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang ,China Graduate School,Chinese Academy of Sciences,Beijing ,China HAN Jianda Robotics Laboratory,Shenyang Institute of Automation,Chinese Acedemy of Sciences,Shenyang ,China.NONLINEAR ESTIMATION METHODS FOR AUTONOMOUS TRACKED VEHICLE WITH SLIP[J].Chinese Journal of Mechanical Engineering,2007,20(4):1-7. |
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| Authors: | ZHOU Bo HAN Jianda |
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| Affiliation: | [1]Robotics Laboratory,Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China [2]Graduate School,Chinese Academy of Sciences, Beijing 100039, China |
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| Abstract: | 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. |
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| Keywords: | Tracked vehicle Nonlinear estimation Kaiman filter Particle filter Set-membership filter SLIP TRACKED VEHICLE AUTONOMOUS METHODS ESTIMATION behavior novel nonlinear filters estimator ellipsoid true state vector particle filter the unscented Kalman filter generate importance proposal distribution version the Kalman filter extended Kalman filter |
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