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.
Development of an particle swarm algorithm for vehicle localization
2012 IEEE Intelligent Vehicles Symposium ; 1114-1119
01.06.2012
325765 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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