Alice: Road Following: Difference between revisions

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== Lecture Materials ==
== Lecture Materials ==
<!-- Include links to materials that you used in your lecture.  At a minimum, this should include a link to your lecture presentation.  You might also include links to MATLAB scripts or other source code that students would find useful -->
<!-- Include links to materials that you used in your lecture.  At a minimum, this should include a link to your lecture presentation.  You might also include links to MATLAB scripts or other source code that students would find useful -->
Lecture presentation slides coming soon...
<!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] -->
<!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] -->
[[Media:L4-3_Alice_RoadEst.pdf|Lecture: Alice Road Estimation]]


== Reading ==
== Reading ==

Latest revision as of 00:54, 22 April 2006

Prev: MHE Course Home Next: Packet-based Estimation

This lecture will present a practical example application for the estimation tools presented in the Monday and Wednesday lectures. The example application is road estimation and tracking for off-highway navigation.

I'll present implementation details, resources and results from live testing of an extended Kalman filter implementation, and provide resources and preliminary results for implementing moving horizon estimation to solve the same problem. --Lars 09:08, 21 April 2006 (PDT)

Lecture Materials

Lecture: Alice Road Estimation

Reading

  • Cf. (extended) Kalman filter reading materials from Monday 4/17/06 lecture.

Additional Resources

  • An Octave (MATLAB clone) toolbox for implementing nonlinear receding horizon control and moving horizon estimation is available at http://jbrwww.che.wisc.edu/home/tenny/nmpc/. The release is somewhat old (2003); be sure to get the CVS version to avoid some known bugs.