The Application of Particle Filtering in Dynamic Locating and Tracking of Intelligent Wheelchair
- 10.2991/icaemt-15.2015.168How to use a DOI?
- intelligent wheelchair, dynamic positioning, particle filter
In order to reduce dynamic positioning errors of intelligent wheelchair efficiently, this paper discusses the application of particle filter. At first, a localization algorithm of an intelligent wheelchair by using CSS ranging is proposed. Then the principle of standard particle filter was introduced and a corresponding filtering model of dynamic positioning was set up in this paper. The filtering algorithm was programmed on the intelligent wheelchair prototype which based on ARM chip as hardware platform, the experimental results showed that the filtering algorithm applied for dynamic positioning of intelligent wheelchair overcame the problem that kalman filter and extended kalman filter is weak for nonlinear state, reducing dynamic positioning error by 27.8% compared to trilateration.
- © 2015, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Yu Wang AU - Xinwei Zhao AU - Pengyu Wang AU - Kai Meng AU - Qiang Gao PY - 2015/08 DA - 2015/08 TI - The Application of Particle Filtering in Dynamic Locating and Tracking of Intelligent Wheelchair BT - Proceedings of the 2015 International Conference on Advanced Engineering Materials and Technology PB - Atlantis Press SP - 887 EP - 891 SN - 2352-5401 UR - https://doi.org/10.2991/icaemt-15.2015.168 DO - 10.2991/icaemt-15.2015.168 ID - Wang2015/08 ER -