Investigating state covariance properties during finite escape time in H∞ filter SLAM
This paper deals with the investigation of finite escape time problem in H∞ Filter based localization and mapping. Finite escape time in H∞ Filter has restricted the technique to be applied as the mobile robot cannot determine its location effectively due to inconsistent information. Therefore, an a...
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| Format: | Book Chapter |
| Language: | English English English |
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Springer Singapore
2018
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| Online Access: | http://umpir.ump.edu.my/id/eprint/22934/2/70.1%20Investigating%20state%20covariance%20properties%20during%20finite%20escape.pdf http://umpir.ump.edu.my/id/eprint/22934/9/42.%20Investigating%20state%20covariance%20properties%20during%20finite%20escape%20time%20in%20Hoo%20filter%20SLAM.pdf http://umpir.ump.edu.my/id/eprint/22934/10/42.1%20Investigating%20state%20covariance%20properties%20during%20finite%20escape%20time%20in%20Hoo%20filter%20SLAM.pdf |
| _version_ | 1825812361532932096 |
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| author | Hamzah, Ahmad Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli |
| author_facet | Hamzah, Ahmad Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli |
| author_sort | Hamzah, Ahmad |
| collection | UMP |
| description | This paper deals with the investigation of finite escape time problem in H∞ Filter based localization and mapping. Finite escape time in H∞ Filter has restricted the technique to be applied as the mobile robot cannot determine its location effectively due to inconsistent information. Therefore, an analysis to improved the current H∞ Filter Three main factors are being considered in this research namely the initial state covariance, the γ values and the type of noises. This paper also proposed a modified H∞ Filter to reduce the finite escape time problem in the estimation. The analysis and simulation results determine that the modified H∞ Filter has better performance compared to the normal H∞ Filter as well as to Kalman Filter for different γ, initial state covariance and works well in non-gaussian noise environment. |
| first_indexed | 2024-03-06T12:28:00Z |
| format | Book Chapter |
| id | UMPir22934 |
| institution | Universiti Malaysia Pahang |
| language | English English English |
| last_indexed | 2024-03-06T12:28:00Z |
| publishDate | 2018 |
| publisher | Springer Singapore |
| record_format | dspace |
| spelling | UMPir229342019-05-21T07:46:16Z http://umpir.ump.edu.my/id/eprint/22934/ Investigating state covariance properties during finite escape time in H∞ filter SLAM Hamzah, Ahmad Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli TK Electrical engineering. Electronics Nuclear engineering This paper deals with the investigation of finite escape time problem in H∞ Filter based localization and mapping. Finite escape time in H∞ Filter has restricted the technique to be applied as the mobile robot cannot determine its location effectively due to inconsistent information. Therefore, an analysis to improved the current H∞ Filter Three main factors are being considered in this research namely the initial state covariance, the γ values and the type of noises. This paper also proposed a modified H∞ Filter to reduce the finite escape time problem in the estimation. The analysis and simulation results determine that the modified H∞ Filter has better performance compared to the normal H∞ Filter as well as to Kalman Filter for different γ, initial state covariance and works well in non-gaussian noise environment. Springer Singapore 2018 Book Chapter PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/22934/2/70.1%20Investigating%20state%20covariance%20properties%20during%20finite%20escape.pdf pdf en http://umpir.ump.edu.my/id/eprint/22934/9/42.%20Investigating%20state%20covariance%20properties%20during%20finite%20escape%20time%20in%20Hoo%20filter%20SLAM.pdf pdf en http://umpir.ump.edu.my/id/eprint/22934/10/42.1%20Investigating%20state%20covariance%20properties%20during%20finite%20escape%20time%20in%20Hoo%20filter%20SLAM.pdf Hamzah, Ahmad and Nur Aqilah, Othman and Mohd Mawardi, Saari and Mohd Syakirin, Ramli (2018) Investigating state covariance properties during finite escape time in H∞ filter SLAM. In: Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018. Lecture Notes in Electrical Engineering . Springer Singapore, Singapore, pp. 271-283. ISBN 978-981-13-3708-6 https://link.springer.com/chapter/10.1007/978-981-13-3708-6_23 DOI: https://doi.org/10.1007/978-981-13-3708-6_23 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Hamzah, Ahmad Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli Investigating state covariance properties during finite escape time in H∞ filter SLAM |
| title | Investigating state covariance properties during finite escape time in H∞ filter SLAM |
| title_full | Investigating state covariance properties during finite escape time in H∞ filter SLAM |
| title_fullStr | Investigating state covariance properties during finite escape time in H∞ filter SLAM |
| title_full_unstemmed | Investigating state covariance properties during finite escape time in H∞ filter SLAM |
| title_short | Investigating state covariance properties during finite escape time in H∞ filter SLAM |
| title_sort | investigating state covariance properties during finite escape time in h∞ filter slam |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/22934/2/70.1%20Investigating%20state%20covariance%20properties%20during%20finite%20escape.pdf http://umpir.ump.edu.my/id/eprint/22934/9/42.%20Investigating%20state%20covariance%20properties%20during%20finite%20escape%20time%20in%20Hoo%20filter%20SLAM.pdf http://umpir.ump.edu.my/id/eprint/22934/10/42.1%20Investigating%20state%20covariance%20properties%20during%20finite%20escape%20time%20in%20Hoo%20filter%20SLAM.pdf |
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