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- W2996988305 abstract "Nonlinear estimation of uncertainties are generally solved by using Extended Kalman Filter (EKF), however performance of EKF algorithm is sluggish when system is highly nonlinear on scale for updating time interval. Tracking the ground truth, mobile robot model is highly nonlinear. In these conditions Unscented Kalman Filter (UKF) algorithm estimation performance is compared with EKF algorithm, while performing complexity of the same order. Difference between the algorithms are EKF performance based on Taylor approximations using jacobian matrices while UKF performance is based on the tuning of Unscented Transform (UT) parameters. In this paper, we are comparing mobile robots for both EKF and UKF navigation based algorithms for localization with respect to ground truth, Global Positioning System (GPS) and dead reckoning." @default.
- W2996988305 created "2020-01-10" @default.
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- W2996988305 date "2019-07-01" @default.
- W2996988305 modified "2023-09-27" @default.
- W2996988305 title "A Comparison between Nonlinear Estimation based Algorithms for Mobile Robot Localizations" @default.
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- W2996988305 doi "https://doi.org/10.1109/icesip46348.2019.8938237" @default.
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