This paper describes the development of a filter algorithm based on the behaviour of biological swarms. The main goal of the algorithm is to perform vehicle localization by combining the data from different sensors — GPS, IMU, speedometers, etc. — and digital maps. In this sense, the algorithm considers several solutions at the same time like Particles Filters. The algorithm has been developed off-line using real data captured from an instrumented vehicle at LIVIC. Performance of the algorithm has been validated and compared with and EKF with encouraging results.


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    Titel :

    Development of an particle swarm algorithm for vehicle localization


    Beteiligte:
    Godoy, J. (Autor:in) / Gruyer, D. (Autor:in) / Lambert, A. (Autor:in) / Villagra, J. (Autor:in)


    Erscheinungsdatum :

    01.06.2012


    Format / Umfang :

    325765 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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