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• W2005174590 abstract "In this paper, a tracking algorithm for autonomous navigation of automated guided vehicles (AGVs) is presented. The developed navigation algorithm is an interacting multiple-model (IMM) algorithm used to detect other AGVs using fused information from multiple sensors. In order to detect other AGVs, two kinematic models were derived: A constant-velocity model for linear motion, and a constant-speed turn model for curvilinear motion. In the constant-speed turn model, a nonlinear information filter (IF) is used in place of the extended Kalman filter (KF). Being equivalent to the KF algebraically, the IF is extended to N-sensor distributed dynamic systems. The model-matched filter used in multi-sensor environments takes the form of a federated nonlinear IF. In multi-sensor environments, the information-based filter is easier to decentralize, initialize, and fuse than a KF-based filter. In this paper, the structural features and information-sharing principle of the federated IF are discussed. The performance of the suggested algorithm using a Monte Carlo simulation is evaluated under the three navigation patterns. Copyright © 2006 John Wiley & Sons, Ltd." @default.
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• W2005174590 date "2007-01-01" @default.
• W2005174590 modified "2023-10-18" @default.
• W2005174590 title "An IMM algorithm with federated information mode-matched filters for AGV" @default.
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• W2005174590 doi "https://doi.org/10.1002/acs.939" @default.
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