WSEAS Transactions on Systems and Control
Print ISSN: 1991-8763, E-ISSN: 2224-2856
Volume 20, 2025
A New Nonlinear Real-time Filter Based on Free Energy
Authors: , ,
Abstract: This study introduces a novel non-linear real-time filter based on the concept of Free Energy, which is
applied to estimate the state of mobile robots in dynamic environments. By leveraging the principles of Bayesian
inference, the proposed Free Energy Filter aims to minimize prediction errors between the observed and estimated
trajectories. The approach extends existing non-linear filtering techniques, incorporating elements such as the
Fokker-Planck equation. The simulation results demonstrate the effectiveness of this method in improving the
control accuracy of unicycle robots equipped with the Bessel controller. The study also discusses comparisons
with traditional Kalman filtering, highlighting the advantages of the proposed approach in adapting to noisy and
uncertain conditions.
Search Articles
Pages: 459-470
DOI: 10.37394/23203.2025.20.46