IMM based UKF and IMM based EKF algorithms for tracking highly maneuverable target

• Autorzy: Djouadi M. S. , Sebbagh A. , Berkani D.
• Języki publikacji: EN

Abstrakty

EN

This paper aims to contribute in solving the problem of model-based body motion estimation by using data coming from visual sensors. We consider the case of state estimation in jump Markov nonlinear systems. The Interacting Multiple Model (IMM) algorithm is specially designed to track accurately targets whose atate and/or measurement models changes during motion transition. However, when these models are nonlinear, the IMM algorithm must be modified in order to guarantee an accurate track. In this paper we propose to compare the results given by an IMM algorithm Extended Kalman filter based (IMM-EKF) versus those given by an IMM algorithm Unscented Kalman Filter based (IMM-UKF) in tracking target assumed to be highly maneuverable.

Słowa kluczowe

EN

estimation; Kalman filtering; target tracking; visual servoing

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2005
• Tom: Vol. 15, no. 1
• Strony: 19--51
• Opis fizyczny: Bibliogr. 19 poz. , rys.

Twórcy

autor

Djouadi M. S.

• Laboratoire Robotique and Productique, Ecole Militaire Polytechnique, Bp:17 Bordj El Bahri 16111 Alger, Algerie

autor

Sebbagh A.

• Laboratoire Robotique and Productique, Ecole Militaire Polytechnique, Bp:17 Bordj El Bahri 16111 Alger, Algerie

autor

Berkani D.

• Electrical and Computer Engineering, Ecole Nationale Polytechnique, 10 Avenue Hassen Badi, Alger

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