Title :
Vehicle tracking based on robust bounded-error nonlinear state estimation using interval analysis
Author :
Kieffer, M. ; Seignez, E. ; Lambert, A. ; Maurin, T. ; Walter, E.
Author_Institution :
LSS, CNRS, Gif-sur-Yvette, France
Abstract :
Designing efficient localization techniques is a key issue for autonomous vehicles. This localization is usually based on information provided by proprioceptive sensors such as odometers (encoders that measure the rotation of each wheel) and exteroceptive sensors such as ultrasonic or laser telemeters. This paper is devoted to the localization of a vehicle in a structured environment described by a set of segments, without an initial precise localization. The main contribution of this work is to show that real-time robust localization can be achieved using the bounded-error technique in a real environment.
Keywords :
mobile robots; nonlinear estimation; state estimation; tracking; autonomous vehicle; bounded error; intelligent vehicle tracking; interval analysis; nonlinear state estimation; Algorithm design and analysis; Equations; Intelligent sensors; Intelligent vehicles; Mobile robots; Remotely operated vehicles; Robustness; Sonar measurements; State estimation; Ultrasonic variables measurement;
Conference_Titel :
Information and Communication Technologies: From Theory to Applications, 2004. Proceedings. 2004 International Conference on
Print_ISBN :
0-7803-8482-2
DOI :
10.1109/ICTTA.2004.1307615