Application of particle filter tracking algorithm in autonomous vehicle navigation

K. R. Li, G. T. Lin, L. Y. Lee, J. C. Juang

研究成果: Conference contribution

1 引文 斯高帕斯(Scopus)

摘要

The paper describes the design, implementation, and test of an autonomous vehicle navigation system using vehicle model and particle filter tracking algorithm. Typically, a vehicle navigation system comprises of real-time environment perception, vehicle localization, collision avoidance, path planning, and path following. In order to achieve the features for intelligent autonomous vehicle, a sensor suite of integrated inertial measurement unit (IMU), GNSS receiver, and incremental encoder is developed for vehicle position estimation. A map-aided path planning strategy is employed to generate a reference route. To this end, a UMI (User Machine Interface) is developed to facilitate the observation of a goal-oriented path tracking situation. The system utilizes particle filter algorithm to guide the vehicle following the planned path in terms of vehicle estimation control. The recursive particle filter is able to weight the cells and response the angle as well as estimated position information. All the sensors are integrated into an embedded computer platform and able to assess the autonomous driving capability. The test is conducted on campus by installing the sensor suite and embedded computer platform into an electric vehicle.

原文English
主出版物標題2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest
頁面250-255
頁數6
DOIs
出版狀態Published - 2013 十二月 1
事件2013 CACS International Automatic Control Conference, CACS 2013 - Nantou, Taiwan
持續時間: 2013 十二月 22013 十二月 4

出版系列

名字2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest

Other

Other2013 CACS International Automatic Control Conference, CACS 2013
國家/地區Taiwan
城市Nantou
期間13-12-0213-12-04

All Science Journal Classification (ASJC) codes

  • 控制與系統工程

指紋

深入研究「Application of particle filter tracking algorithm in autonomous vehicle navigation」主題。共同形成了獨特的指紋。

引用此