DINAMIK OBYEKTLAR HARAKATINI PROGNOZLASHDA HOLAT NOANIQLIGINI HISOBGA OLUVCHI MATEMATIK MODEL
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Abstract
Ushbu maqolada dinamik obyektlar harakatini prognozlashda sensor o‘lchovlari va harakat jarayonidagi noaniqliklarni hisobga olish muammosi tadqiq etiladi. Muammoni hal qilish uchun Kalman filtri va stokastik Vector AutoRegressive (VAR) modeliga asoslangan matematik yondashuv taklif etiladi. Model obyektning joriy holatini baholash, kelajakdagi harakatini prognozlash va prognoz noaniqligini kovariatsiya orqali aniqlash imkonini beradi. Yondashuv 2D LiDAR va kamera ma’lumotlariga moslashtirilib, ROS2, Nav2 va Gazebo muhitida modellashtiriladi. Tajriba natijalari taklif etilgan modelning dinamik obyekt holatini va uning noaniqligini birgalikda baholash samaradorligini ko‘rsatadi.
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