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Title of Journal: Int J Control Autom Syst

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Abbravation: International Journal of Control, Automation and Systems

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Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers

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10.1016/0143-4160(92)90017-m

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2005-4092

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A Gaussian distributed resampling algorithm for mi

Authors: Hyun Duck Choi Jung Min Pak Myo Taeg Lim Moon Kyou Song
Publish Date: 2015/05/23
Volume: 13, Issue: 4, Pages: 1032-1036
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Abstract

This paper proposes a new resampling algorithm a Gaussian distributed resampling GDR algorithm in order to solve the sample impoverishment problem in particle filters The key concept of the proposed algorithm is to generate new particles on the basis of a Gaussian distribution which depends on the size of the weights in the resampling process In comparison with established resampling algorithms particle diversity can be maintained and thus the proposed algorithm avoids sample impoverishment The proposed GDR algorithm guarantees a reliable estimation even if the number of samples is sharply reduced Thus the computational burden of particle filters can be reduced efficiently with the proposed GDR algorithm

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Other Papers In This Journal:
  1. Finite-time control for discrete-time switched systems with time delay
  2. Backward orientation tracking control of mobile robot with N trailers
  3. Autopilots for small unmanned aerial vehicles: A survey
  4. An LMI Approach to consensus in second-order multi-agent systems
  5. Periodic use of time-varying state feedbacks for the receding horizon control of bilinear systems
  6. Non-symmetric unscented transformation with application to in-flight alignment
  7. Optimized ellipsoid algorithm for LMI feasibility problems
  8. Improved stability criteria for T-S fuzzy systems with time-varying delay by delay-partitioning approach
  9. High gain adaptive observer design for sensorless state and parameter estimation of induction motors
  10. Adaptive consensus control for multiple Euler-Lagrange systems with external disturbance
  11. Position coordinate representation of flying arrow and analysis of its performance indicator
  12. Exploration of unknown object by active touch of robot hand
  13. A recursive state estimator in the presence of state inequality constraints
  14. Over networks H ∞ filtering for discrete singular jump systems with interval time-varying delay
  15. A grey probability measure set based mobile robot position estimation algorithm
  16. Fault diagnosis and fault tolerant control for non-Gaussian time-delayed singular stochastic distribution systems
  17. The localization of a mobile robot using a pseudolite ultrasonic system and a dead reckoning integrated system
  18. Parameter convergence in adaptive feedback linearizing control of limit cycling systems with input saturation
  19. Lyapunov-based feedback design and experimental verification of IC engine speed control
  20. Cadaver study for spinal fusion surgery using an image-guided surgical robot system
  21. Nonlinear decoupling control of four-wheel-steering vehicles with an observer
  22. Motion control of an omnidirectional mobile platform for trajectory tracking using an integral sliding mode controller
  23. Robust control under constraints of linear systems with Markovian jumps
  24. Robust stabilization of singular markovian jump systems with uncertain switching
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