NONLINEAR ESTIMATION METHODS FOR AUTONOMOUS TRACKED VEHICLE WITH SLIP

作     者：ZHOU Bo HAN Jianda 

作者机构：Robotics LaboratoryShenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate SchoolChinese Academy of Sciences Beijing 100039 China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2007年第20卷第4期

页      面：1-7页

核心收录：

学科分类：08[工学] 0823[工学-交通运输工程] 

基　　金：This project is supported by National Hi-tech Research and Development Program of China(863 program No.2006AA04Z215) 

主　　题：Tracked vehicle Nonlinear estimation Kalman filter Particle filter Set-membership filter 

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 *** first filter is the well-known extended Kalman *** second filter is an unscented version of the Kalman *** third one is a particle filter using the unscented Kalman filter to generate the importance proposal *** 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 *** four different approaches have different complexities,behavior and advantages that are surveyed and compared.