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51667236 Nonlinear Bayesian Filtering

51667236 Nonlinear Bayesian Filtering

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Published by Oleksii Asiutin

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Published by: Oleksii Asiutin on Aug 27, 2011
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08/27/2011

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In this chapter, the performance of the deterministic sigma point filters and statis-

tical particle filters are compared in terms of accuracy and robustness by using the

autonomous robot navigation with limited sensor information. The simulation results

showed that the sequential Monte-Carlo filters can be efficient alternatives to other

nonlinear filtering algorithms when the measurement information is not enough due

to limited sensor operation. Specially, the MCMC technique in the particle filtering

yields improvements over the sigma point filters (UKF, DDF).

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Fig. 8.33 Speed Estimation Errors

Fig. 8.34 Heading-Angle Estimation Errors

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Fig. 8.35 Distance Estimation Errors

Fig. 8.36 Final Updated Position Particles

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Fig. 8.37 Evolution of Probability Density Function for x State

Fig. 8.38 Evolution of Probability Density Function for y State

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CHAPTER IX

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