FEKF Estimation for Mobile Robot Localization and Mapping Considering Noise Divergence
This paper proposed an approach of Fuzzy-Extended Kalman Filter(FEKF) for mobile robot localization and mapping under unknown noise characteristics. The technique apply the information extracted from EKF measurement innovation to derive the best estimation output for a mobile robot during its observ...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
| Published: |
2016
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| Online Access: | http://umpir.ump.edu.my/id/eprint/11195/1/FEKF%20Estimation%20for%20Mobile%20Robot%20Localization%20and%20Mapping%20Considering%20Noise%20Divergence.pdf http://umpir.ump.edu.my/id/eprint/11195/7/fkee-2015-Hamzah-FEKF%20Estimation%20for%20Mobile.pdf |
| _version_ | 1825822594582970368 |
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| author | Hamzah, Ahmad Nur Aqilah, Othman Saifudin, Razali Mohd Razali, Daud |
| author_facet | Hamzah, Ahmad Nur Aqilah, Othman Saifudin, Razali Mohd Razali, Daud |
| author_sort | Hamzah, Ahmad |
| collection | UMP |
| description | This paper proposed an approach of Fuzzy-Extended Kalman Filter(FEKF) for mobile robot localization and mapping under unknown noise characteristics. The technique apply the information extracted from EKF measurement innovation to derive the best estimation output for a mobile robot during its observations. These information is then fuzzified using Fuzzy Logic technique with very few design rules to control the information which at the end further reducing the error about the measurement and consequently provide better localization and mapping. Simulation results are also presented to describe the efficiency of the proposed method in comparison with the normal EKF estimation that emphasize FEKF exceeds the estimation results of normal EKF in non-Gaussian noise environment. |
| first_indexed | 2024-03-06T11:58:56Z |
| format | Conference or Workshop Item |
| id | UMPir11195 |
| institution | Universiti Malaysia Pahang |
| language | English English |
| last_indexed | 2024-03-06T11:58:56Z |
| publishDate | 2016 |
| record_format | dspace |
| spelling | UMPir111952018-09-05T04:32:24Z http://umpir.ump.edu.my/id/eprint/11195/ FEKF Estimation for Mobile Robot Localization and Mapping Considering Noise Divergence Hamzah, Ahmad Nur Aqilah, Othman Saifudin, Razali Mohd Razali, Daud TK Electrical engineering. Electronics Nuclear engineering This paper proposed an approach of Fuzzy-Extended Kalman Filter(FEKF) for mobile robot localization and mapping under unknown noise characteristics. The technique apply the information extracted from EKF measurement innovation to derive the best estimation output for a mobile robot during its observations. These information is then fuzzified using Fuzzy Logic technique with very few design rules to control the information which at the end further reducing the error about the measurement and consequently provide better localization and mapping. Simulation results are also presented to describe the efficiency of the proposed method in comparison with the normal EKF estimation that emphasize FEKF exceeds the estimation results of normal EKF in non-Gaussian noise environment. 2016 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/11195/1/FEKF%20Estimation%20for%20Mobile%20Robot%20Localization%20and%20Mapping%20Considering%20Noise%20Divergence.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/11195/7/fkee-2015-Hamzah-FEKF%20Estimation%20for%20Mobile.pdf Hamzah, Ahmad and Nur Aqilah, Othman and Saifudin, Razali and Mohd Razali, Daud (2016) FEKF Estimation for Mobile Robot Localization and Mapping Considering Noise Divergence. In: Malaysian Technical Universities Conference on Engineering and Technology (MUCET) 2015 , 11-13 October 2015 , Johor Bahru, Johor, Malaysia. . (Published) |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Hamzah, Ahmad Nur Aqilah, Othman Saifudin, Razali Mohd Razali, Daud FEKF Estimation for Mobile Robot Localization and Mapping Considering Noise Divergence |
| title | FEKF Estimation for Mobile Robot Localization and Mapping Considering Noise Divergence |
| title_full | FEKF Estimation for Mobile Robot Localization and Mapping Considering Noise Divergence |
| title_fullStr | FEKF Estimation for Mobile Robot Localization and Mapping Considering Noise Divergence |
| title_full_unstemmed | FEKF Estimation for Mobile Robot Localization and Mapping Considering Noise Divergence |
| title_short | FEKF Estimation for Mobile Robot Localization and Mapping Considering Noise Divergence |
| title_sort | fekf estimation for mobile robot localization and mapping considering noise divergence |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/11195/1/FEKF%20Estimation%20for%20Mobile%20Robot%20Localization%20and%20Mapping%20Considering%20Noise%20Divergence.pdf http://umpir.ump.edu.my/id/eprint/11195/7/fkee-2015-Hamzah-FEKF%20Estimation%20for%20Mobile.pdf |
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