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J. Marins, X. Yun, E. Bachmann, R. McGhee and J. Zyda, “An Extended Kalman Filter for Quaternion-Based Orientation Estimation Using Marg Sensors,” International Conference on Intelligent Robots and Systems, Maui, 29 October-3 November 2001, pp. 2003-2011.

has been cited by the following article:

• TITLE: Prediction of Future Configurations of a Moving Target in a Time-Varying Environment Using an Autoregressive Model

  AUTHORS: Ashraf Elnagar

  KEYWORDS: Motion Prediction, Path Planning, Mobile Robots, ARM

  JOURNAL NAME: Intelligent Control and Automation, Vol.2 No.4, October 31, 2011

  ABSTRACT: In this paper, we describe an algorithm for predicting future positions and orientation of a moving object in a time-varying environment using an autoregressive model (ARM). No constraint is placed on the obstacles motion. The model addresses prediction of translational and rotational motions. Rotational motion is represented using quaternions rather than Euler representation to improve the algorithm performance and accuracy of the prediction results. Compared to other similar systems, the proposed algorithm has an adaptive capability, which enables it to predict over multiple time-steps rather than fixed ones as reported in other works. Such algorithm can be used in a variety of applications. An important one is its application in the framework of designing reliable navigational systems for autonomous mobile robots and more particularly in building effective trajectory planners. Simulation results show how significantly this model could reduce computational cost.