Robust Filter Development to Pursue Robotic Localization and Mapping Problem
This paper deals with the development of a robust filter known as H Filter , as an approach to provide alternative solutions in robotic localization and mapping problem. In this problem, normally the environment conditions and noise characteristics are unknown which makes the Kalman Filter approach...
| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2011
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/3533/1/Robust_filter_development_to_pursue_robotic_localization_and_mapping_problem.pdf |
| _version_ | 1825821406762369024 |
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| author | Hamzah, Ahmad Namerikawa, Toru |
| author_facet | Hamzah, Ahmad Namerikawa, Toru |
| author_sort | Hamzah, Ahmad |
| collection | UMP |
| description | This paper deals with the development of a robust filter known as H Filter , as an approach to provide alternative solutions in robotic localization and mapping problem. In this problem, normally the environment conditions and noise characteristics are unknown which makes the Kalman Filter approach suffers. H Filter is proposed due its advantage in estimating conditions in non-Gaussian noise which Kalman Filter cannot offer. The analysis is shown by comparing the performance between H infinity Filter and Extended Kalman Filter for the above problem. Based on the simulation analysis and preliminary experiments, there is a high reliability in estimation of H Filter compared to Extended Kalman Filter regarding the robot location and landmark positions. Hence, H Filter can provide better solution especially in specific environment conditions with unknown noise characteristics. |
| first_indexed | 2024-03-06T11:41:04Z |
| format | Conference or Workshop Item |
| id | UMPir3533 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T11:41:04Z |
| publishDate | 2011 |
| record_format | dspace |
| spelling | UMPir35332018-04-11T00:58:03Z http://umpir.ump.edu.my/id/eprint/3533/ Robust Filter Development to Pursue Robotic Localization and Mapping Problem Hamzah, Ahmad Namerikawa, Toru TK Electrical engineering. Electronics Nuclear engineering This paper deals with the development of a robust filter known as H Filter , as an approach to provide alternative solutions in robotic localization and mapping problem. In this problem, normally the environment conditions and noise characteristics are unknown which makes the Kalman Filter approach suffers. H Filter is proposed due its advantage in estimating conditions in non-Gaussian noise which Kalman Filter cannot offer. The analysis is shown by comparing the performance between H infinity Filter and Extended Kalman Filter for the above problem. Based on the simulation analysis and preliminary experiments, there is a high reliability in estimation of H Filter compared to Extended Kalman Filter regarding the robot location and landmark positions. Hence, H Filter can provide better solution especially in specific environment conditions with unknown noise characteristics. 2011-05-08 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/3533/1/Robust_filter_development_to_pursue_robotic_localization_and_mapping_problem.pdf Hamzah, Ahmad and Namerikawa, Toru (2011) Robust Filter Development to Pursue Robotic Localization and Mapping Problem. In: National Conference on Electrical and Electronics Engineering (NCEEE 2012) , 08-09 May 2012 , UTHM Library. pp. 1-4.. (Published) |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Hamzah, Ahmad Namerikawa, Toru Robust Filter Development to Pursue Robotic Localization and Mapping Problem |
| title | Robust Filter Development to Pursue Robotic Localization and Mapping Problem |
| title_full | Robust Filter Development to Pursue Robotic Localization and Mapping Problem |
| title_fullStr | Robust Filter Development to Pursue Robotic Localization and Mapping Problem |
| title_full_unstemmed | Robust Filter Development to Pursue Robotic Localization and Mapping Problem |
| title_short | Robust Filter Development to Pursue Robotic Localization and Mapping Problem |
| title_sort | robust filter development to pursue robotic localization and mapping problem |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/3533/1/Robust_filter_development_to_pursue_robotic_localization_and_mapping_problem.pdf |
| work_keys_str_mv | AT hamzahahmad robustfilterdevelopmenttopursueroboticlocalizationandmappingproblem AT namerikawatoru robustfilterdevelopmenttopursueroboticlocalizationandmappingproblem |