Development of an particle swarm algorithm for vehicle localization

Author

Godoy, J. ; Gruyer, D. ; Lambert, A. ; Villagrá, J.

Author_Institution

Programa AUTOPIA, Consejo Super. de Investig. Cientificas, Madrid, Spain

fYear

2012

fDate

3-7 June 2012

Firstpage

1114

Lastpage

1119

Abstract

This paper describes the development of a filter algorithm based on the behaviour of biological swarms. The main goal of the algorithm is to perform vehicle localization by combining the data from different sensors - GPS, IMU, speedometers, etc. - and digital maps. In this sense, the algorithm considers several solutions at the same time like Particles Filters. The algorithm has been developed off-line using real data captured from an instrumented vehicle at LIVIC. Performance of the algorithm has been validated and compared with and EKF with encouraging results.

Keywords

Global Positioning System; automated highways; particle filtering (numerical methods); particle swarm optimisation; road vehicles; sensor fusion; traffic engineering computing; velocity measurement; EKF comparison; GPS; IMU; LIVIC; biological swarm behaviour; digital map; filter algorithm; intelligent transport system; particle filters; particle swarm algorithm; sensor data combination; speedometer; vehicle localization; Atmospheric measurements; Estimation; Global Positioning System; Particle measurements; Sensors; Uncertainty; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium (IV), 2012 IEEE

Conference_Location

Alcala de Henares

ISSN

1931-0587

Print_ISBN

978-1-4673-2119-8

Type

conf

DOI

10.1109/IVS.2012.6232213

Filename

6232213