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Proceedings Paper

A comprehensive comparison of sigma-point Kalman filters applied on a complex maneuvering road
Author(s): Mohammad Al Shabi; Khaled Hatamleh; Samer Al Shaer; Iyad Salameh; S. Andrew Gadsden
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Paper Abstract

In this paper, a comprehensive comparison is made of the following sigma-point Kalman filters: unscented Kalman filter (UKF), cubature Kalman filter (CKF), and the central difference Kalman filter (CDKF). A simulation based on a complex maneuvering road (an s-path) is used as a benchmark problem. This paper studies the response, stability, robustness, convergence, and computational complexity of the filters. Future work will look at implementing the methods on a robot built for experimentation.

Paper Details

Date Published: 17 May 2016
PDF: 11 pages
Proc. SPIE 9842, Signal Processing, Sensor/Information Fusion, and Target Recognition XXV, 98421I (17 May 2016); doi: 10.1117/12.2224233
Show Author Affiliations
Mohammad Al Shabi, Univ. of Sharjah (United Arab Emirates)
Khaled Hatamleh, Jordan Univ. of Science and Technology (Jordan)
Samer Al Shaer, Philadelphia Univ. (Jordan)
Iyad Salameh, Philadelphia Univ. (Jordan)
S. Andrew Gadsden, Univ. of Maryland, Baltimore County (United States)

Published in SPIE Proceedings Vol. 9842:
Signal Processing, Sensor/Information Fusion, and Target Recognition XXV
Ivan Kadar, Editor(s)

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