Paper Info
Title
A Multiple-Model Particle Filter Based Method for Slide Detection and Compensation in Road Vehicles
Abstract
Continuous precise navigation is essential for many intelligent transportation systems (ITS) applications. It is a common understanding that for the challenges of advanced applications, global navigation satellite systems (GNSS) based solutions must be complemented with additional sensors. A very simple and still very competent option is the inclusion of one odometer and one gyroscope in the onboard sensing unit. This choice has the benefits that its errors can be easily characterized in normal conditions, and keeps the costs low. However, the intrinsic nature of the odometry system causes important diminutions of its performance in unusual friction conditions, such as slides and slips. This paper proposes a method to detect and compensate the errors made in the odometry in unusual friction conditions bymeans of amultiplemodel particle filter (MMPF) based hybridization. In concrete, we focus on slides since these appear more often in road vehicles. The theoretical contributions, along with the good results obtained in real trials are presented in the paper.
Year
DOI
Venue
2015
10.1007/978-3-319-18833-1_17
BIOINSPIRED COMPUTATION IN ARTIFICIAL SYSTEMS, PT II
Field
DocType
Volume
Computer vision,Gyroscope,Satellite,Computer science,Normal conditions,Particle filter,Odometry,Real-time computing,GNSS applications,Artificial intelligence,Intelligent transportation system,Odometer
Conference
9108
ISSN
Citations 
PageRank 
0302-9743
0
0.34
References 
Authors
10
3
Name
Order
Citations
PageRank
Rafael Toledo-Moreo132731.58
Carlos Colodro-Conde2153.25
F. Javier Toledo-Moreo3316.12