Citation

Yu B, Zhu H, Xue D, Xu L, Zhang S, Li B. Entropy (Basel) 2022; 24(8): e1128.

Copyright

(Copyright © 2022, MDPI: Multidisciplinary Digital Publications Institute)

DOI

10.3390/e24081128

PMID

36010789

Abstract

Parameter calibration is critical for self-localization based on dead reckoning in the control of intelligent vehicles such as autonomous driving. Most traditional calibration methods for robotics control based on dead reckoning rely on data collection with specially designed paths. For the calibration of parameters in the control of intelligent vehicles, the design of such paths is considered impossible due to the complexity of road conditions. To solve this problem, an optimization-based dead reckoning calibration scheme is introduced in this research using the differential global positioning system to obtain the actual positions of the intelligent vehicle. In this scheme, the difference between the positions obtained through dead reckoning and the positions obtained through the differential global positioning system is selected as the optimization objective function to be minimized. An adaptive quantum-inspired evolutionary algorithm is developed to improve the quality and efficiency of optimization. Experiments with an intelligent vehicle were also conducted to demonstrate the effectiveness of the developed calibration scheme. In addition, the newly introduced adaptive quantum-inspired evolutionary algorithm is compared with the classic genetic algorithm and the classic quantum-inspired evolutionary algorithm using eight benchmark test functions considering computation quality and efficiency.

Language: en

Keywords

adaptive quantum-inspired evolutionary algorithm; dead reckoning; intelligent vehicle; optimization; parameter calibration