Localization of a Vehicle: A Dynamic Interval Constraint Satisfaction Problem-Based Approach
Joint Authors
Lambert, Alain
Wang, Zhan
Kueviakoe, Kangni
Frenoux, Emmanuelle
Tarroux, Philippe
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-04-10
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
This paper introduces a new interval constraint propagation (ICP) approach dealing with the real-time vehicle localization problem.
Bayesian methods like extended Kalman filter (EKF) are classically used to achieve vehicle localization.
ICP is an alternative which provides guaranteed localization results rather than probabilities.
Our approach assumes that all models and measurement errors are bounded within known limits without any other hypotheses on the probability distribution.
The proposed algorithm uses a low-level consistency algorithm and has been validated with an outdoor vehicle equipped with a GPS receiver, a gyro, and odometers.
Results have been compared to EKF and other ICP methods such as hull consistency (HC4) and 3-bound (3B) algorithms.
Both consistencies of EKF and our algorithm have been experimentally studied.
American Psychological Association (APA)
Kueviakoe, Kangni& Wang, Zhan& Lambert, Alain& Frenoux, Emmanuelle& Tarroux, Philippe. 2018. Localization of a Vehicle: A Dynamic Interval Constraint Satisfaction Problem-Based Approach. Journal of Sensors،Vol. 2018, no. 2018, pp.1-12.
https://search.emarefa.net/detail/BIM-1201160
Modern Language Association (MLA)
Kueviakoe, Kangni…[et al.]. Localization of a Vehicle: A Dynamic Interval Constraint Satisfaction Problem-Based Approach. Journal of Sensors No. 2018 (2018), pp.1-12.
https://search.emarefa.net/detail/BIM-1201160
American Medical Association (AMA)
Kueviakoe, Kangni& Wang, Zhan& Lambert, Alain& Frenoux, Emmanuelle& Tarroux, Philippe. Localization of a Vehicle: A Dynamic Interval Constraint Satisfaction Problem-Based Approach. Journal of Sensors. 2018. Vol. 2018, no. 2018, pp.1-12.
https://search.emarefa.net/detail/BIM-1201160
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1201160