Rastreamento de trajetória de veículo terrestre não linear estocástico multivariável utilizando filtro de partículas

Hugo Alves Velozo; Francisco das Chagas Souza

doi:10.20906/sbai.v1i1.2706

Hugo Alves Velozo Laboratório de Sistemas Adaptativos e Processamento de Sinais-LSAPS, Programa de Pós-Graduação em Engenharia Elétrica, Universidade Federal do Maranhão - UFMA, São Luís - MA
Francisco das Chagas Souza Laboratório de Sistemas Adaptativos e Processamento de Sinais-LSAPS, Programa de Pós-Graduação em Engenharia Elétrica, Universidade Federal do Maranhão - UFMA, São Luís - MA

DOI: https://doi.org/10.20906/sbai.v1i1.2706

Keywords: Bayesian estimation, particle filter, state estimation, veichle trajectory tracking

Abstract

State estimation of stochastic nonlinear dynamical systems has several applications in several areas of engineering. Among these areas, states can be estimated in order to track a mobile object such as autonomous vehicles and mobile robots in a given space. The particle filter can be used for this purpose due to its efficiency and precision in systems with generic characteristics. In this article, an application of the particle filter in tracking a land vehicle with free mobility in a two-dimensional space will be presented. The computational results are analyzed in different process and measurement noise scenarios.