Sensor anomaly detection and recovery in a nonlinear autonomous ground vehicle model

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Conference Proceeding
2017 Asian Control Conference, ASCC 2017, 2018, 2018-January pp. 430 - 435
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© 2017 IEEE. This work considers the problem of sensor anomaly detection, estimation and recovery for an autonomous vehicle model (e.g. a self-driving car). The proposed algorithm employs particle filtering and maximum likelihood methods to detect and estimate the anomaly. The estimated anomaly is used to correct the sensor readings. The system is nonlinear and it is assumed that both the system model and sensor outputs are corrupted by noise (not necessarily Gaussian). Simulation results are presented highlighting the performance of the proposed method.
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