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- W4292073110 abstract "This paper presents an optimal approach for state estimation and Simultaneous Localization and Mapping (SLAM) correction using Kalman gain obtained via Linear Matrix Inequality (LMI). The technique utilizes a Linear Parameter Varying (LPV) represention of the system, which allows to model the complex non-linear dynamics in a way that linearization is not required for the estimator or controller design. In addition, the LPV polytopic representation is exploited to obtain a real-time Kalman gain, avoiding expensive optimization of LMIs at every step. The estimation schema is integrated with a Non-linear Model Predictive Control (NMPC) in charge of controlling the vehicle. For the demonstration, the approach is tested in the simulation and for the practical validity, a small-scale autonomous car is used." @default.
- W4292073110 created "2022-08-17" @default.
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- W4292073110 date "2022-07-12" @default.
- W4292073110 modified "2023-09-24" @default.
- W4292073110 title "Autonomous Vehicle State Estimation using a LPV Kalman Filter and SLAM" @default.
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- W4292073110 doi "https://doi.org/10.23919/ecc55457.2022.9838175" @default.
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