The Application of Particle Filtering in Dynamic Locating and Tracking of Intelligent Wheelchair

DOI

10.2991/icaemt-15.2015.168How to use a DOI?

Keywords

intelligent wheelchair, dynamic positioning, particle filter

Abstract

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.

Copyright

© 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/).

Download article (PDF)

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  -