Rastreamento de trajetória de veículo terrestre não linear estocástico multivariável utilizando filtro de partículas
Keywords: Bayesian estimation, particle filter, state estimation, veichle trajectory tracking
AbstractState 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.