@inproceedings{6f5c8c946e834dc3bc8a7e73a34c11c0,
title = "Effect of EKF Localization on Path Tracking in Autonomous Vehicle Navigation Systems",
abstract = "This paper presents an integrated approach to evalu-ating the interplay between localization and path-tracking performances in autonomous vehicle navigation systems. Considering stochastic uncertainties in motion and measurement models, we design an extended Kalman filter (EKF) for localization and employ the pure pursuit method for steering control. We analyze how localization accuracy impacts path-tracking performance through extensive simulations, varying the number of landmarks and noise covariance settings. Our results highlight the critical role of accurate localization in improving path tracking, offering valuable insights for designing robust autonomous navigation systems.",
keywords = "Autonomous vehicle, extended Kalman filtering, localization, path tracking, pure pursuit",
author = "Cho, \{Eun Ho\} and Yang, \{Seung Geon\} and Girim Kwon and Lim, \{Seung Chan\}",
note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 2025 International Conference on Electronics, Information, and Communication, ICEIC 2025 ; Conference date: 19-01-2025 Through 22-01-2025",
year = "2025",
doi = "10.1109/ICEIC64972.2025.10879669",
language = "English",
series = "2025 International Conference on Electronics, Information, and Communication, ICEIC 2025",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "2025 International Conference on Electronics, Information, and Communication, ICEIC 2025",
address = "United States",
}