Fig. 1. The y-position error χ2,t and its estimates using CFSWF, DFSWF, CKF, and DKF.
Fig. 2. MSE comparison for χ2,t with uncertainty δt = 1
Fig. 3. MSE comparison for χ2,t without uncertainty δt = 0
References
- J. P. Laumond, Robot Motion Planning and Control, Springer-Verlag, Berlin, 1998.
- W. Burgard, D. Fox, and S. Thrun, "Active mobile robot localization by entropy minimization," in Proc. of the Second Euromicro Workshop on Advanced Mobile robots, 1997.
- N. Roy, W. Burgard, D. Fox, and S. Thrun, "Coastal navigation mobile robot navigation with uncertainty in dynamic environments," In Proc. of the ICRA, 1999.
- M. Ribo, S. Brahim-Belhouari, and L. Pronzato, "Motion planning for the precise location of a mobile robot," In Proc. of European Control Conf., Brussels, Belgium, 1997..
- A. Mutambara, Decentralized Estimation and Control for. In: Multisensor Systems. CRC Press, 1998.q
- E. Song, Y. Zhu, J. Zhou and Z. You, "Optimal Kalman filtering fusion with cross-correlated sensor noises," Automatica, Vol. 43, pp. 1450-1456, 2007. https://doi.org/10.1016/j.automatica.2007.01.010
- W. H. Kwon, P. S. Kim, and P. Park, "A Receding Horizon Kalman FIR filter for linear continuous-time systems," IEEE Trans. on Automatic Control, Vol. 44, No. 11, 2115-2120, 1999. https://doi.org/10.1109/9.802927
- D. Y. Kim and V. Shin, "Optimal Receding Horizon Filter for Continuous-Time Nonlinear Stochastic Systems," Proc. 6th WSEAS Inter. Conf. on Signal Processing, Dallas, Texas, USA, pp. 112-116, 2007.
- D. Y. Kim, V. Shin, "An Optimal Receding Horizon FIR Filter for Continuous-Time Linear Systems," Proceedings Intern. Conf. "SICE-ICCAS", Busan, Korea, pp. 263-265, 2006.
- V. Shin, Y. Lee and T-S. Choi, "Generalized Millman's formula and its applications for estimation problems," Signal Processing, Vol. 86, No.2, pp. 257-266, 2006. https://doi.org/10.1016/j.sigpro.2005.05.015
- W. H. Kwon, K. S. Lee, and O. K. Kwon, "Optimal FIR filters for time-varying state-space models," IEEE Trans. on Aerospace and Electronic Systems, Vol. 26, pp. 1011-1021, 1990. https://doi.org/10.1109/7.62253
- Zhou, J., Zhu, Y., You, Z. and E. Song., "An efficient algorithm for optimal linear estimation fusion in decentralized multisensory systems," IEEE Trans. Syst., Man, Cybern., Vol. 36, No. 5, pp. 1000-1009, 2006. https://doi.org/10.1109/TSMCA.2006.878986
- V.Shin, G.Shevlyakov, K.Kim, "A New Fusion Formula and Its Application to Continuous-Time Linear Systems with Multisensor Environment," Computational Statistics & Data Analysis, Vol. 52, Issue 2, pp. 840-854, 2007. https://doi.org/10.1016/j.csda.2006.11.031
- Y. J. Kanayama, Y. Kimura, F. Miyazaki and T. Noguchi, "A stable tracking control method for an autonomous mobile robot," In Proc. IEEE Int. Conf. Ground moving target. Autom. pp. 384-389, 1990.
- J. E. Normey-Rico, J. Gomez-Ortega, E. F. Camacho, "A Smith-predictor-based generalized predictive controller for mobile robot path-tracking," Control Engineering Practice, Vol.7, Issue 6, pp. 729-740, 1999. https://doi.org/10.1016/S0967-0661(99)00025-8
- V. S. Pugachev and I. N. Sinitsyn, Stochastic Differential Systems: Analysis and Filtering, John Wiley & Songs, N.Y., 1987.