An adaptive estimation technique for finite escape time issue in mobile robot navigation
This paper deals with the analysis of H infinity Filter for mobile robot navigation considering the Finite Escape Time problem. H infinity Filter has disadvantages in navigation as the current states of estimation may lead to erroneous results due to the finite escape time issue. This is a case wher...
| Main Authors: | , , , , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
| Published: |
Institute of Electrical and Electronics Engineers Inc.
2023
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| Online Access: | http://umpir.ump.edu.my/id/eprint/41904/1/An%20adaptive%20estimation%20technique%20for%20finite%20escape%20time.pdf http://umpir.ump.edu.my/id/eprint/41904/2/An%20adaptive%20estimation%20technique%20for%20finite%20escape%20time%20issue%20in%20mobile%20robot%20navigation_ABS.pdf |
| _version_ | 1825815779152494592 |
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| author | Hamzah, Ahmad Nur Aqilah, Othman Maziyah, Mat Noh Zainah, Md Zain Mohd Mawardi, Saari |
| author_facet | Hamzah, Ahmad Nur Aqilah, Othman Maziyah, Mat Noh Zainah, Md Zain Mohd Mawardi, Saari |
| author_sort | Hamzah, Ahmad |
| collection | UMP |
| description | This paper deals with the analysis of H infinity Filter for mobile robot navigation considering the Finite Escape Time problem. H infinity Filter has disadvantages in navigation as the current states of estimation may lead to erroneous results due to the finite escape time issue. This is a case where the estimation may become erroneuous due to huge amount of state covariance produced by the updated state covariance during mobile robot observations. Therefore, the state covariance is modified to avoid the occurrence of finite escape time when mobile robot moves in a surrounding area. The updated state covariance is changed by checking the state covariance matrix through the Cholesky function to provide a reliable positive semidefinite matrix during the observation process. Simulation results have described that the performances are better compared to the normal H infinity Filter which illustrates a number of finite escape time during mobile robot movements. |
| first_indexed | 2024-09-25T03:51:24Z |
| format | Conference or Workshop Item |
| id | UMPir41904 |
| institution | Universiti Malaysia Pahang |
| language | English English |
| last_indexed | 2024-09-25T03:51:24Z |
| publishDate | 2023 |
| publisher | Institute of Electrical and Electronics Engineers Inc. |
| record_format | dspace |
| spelling | UMPir419042024-08-30T00:15:17Z http://umpir.ump.edu.my/id/eprint/41904/ An adaptive estimation technique for finite escape time issue in mobile robot navigation Hamzah, Ahmad Nur Aqilah, Othman Maziyah, Mat Noh Zainah, Md Zain Mohd Mawardi, Saari T Technology (General) TA Engineering (General). Civil engineering (General) TK Electrical engineering. Electronics Nuclear engineering This paper deals with the analysis of H infinity Filter for mobile robot navigation considering the Finite Escape Time problem. H infinity Filter has disadvantages in navigation as the current states of estimation may lead to erroneous results due to the finite escape time issue. This is a case where the estimation may become erroneuous due to huge amount of state covariance produced by the updated state covariance during mobile robot observations. Therefore, the state covariance is modified to avoid the occurrence of finite escape time when mobile robot moves in a surrounding area. The updated state covariance is changed by checking the state covariance matrix through the Cholesky function to provide a reliable positive semidefinite matrix during the observation process. Simulation results have described that the performances are better compared to the normal H infinity Filter which illustrates a number of finite escape time during mobile robot movements. Institute of Electrical and Electronics Engineers Inc. 2023 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/41904/1/An%20adaptive%20estimation%20technique%20for%20finite%20escape%20time.pdf pdf en http://umpir.ump.edu.my/id/eprint/41904/2/An%20adaptive%20estimation%20technique%20for%20finite%20escape%20time%20issue%20in%20mobile%20robot%20navigation_ABS.pdf Hamzah, Ahmad and Nur Aqilah, Othman and Maziyah, Mat Noh and Zainah, Md Zain and Mohd Mawardi, Saari (2023) An adaptive estimation technique for finite escape time issue in mobile robot navigation. In: 2023 IEEE 11th Conference on Systems, Process and Control, ICSPC 2023 - Proceedings. 11th IEEE Conference on Systems, Process and Control, ICSPC 2023 , 16 December 2023 , Malacca. pp. 205-209. (197292). ISBN 979-835034086-0 (Published) https://doi.org/10.1109/ICSPC59664.2023.10420281 |
| spellingShingle | T Technology (General) TA Engineering (General). Civil engineering (General) TK Electrical engineering. Electronics Nuclear engineering Hamzah, Ahmad Nur Aqilah, Othman Maziyah, Mat Noh Zainah, Md Zain Mohd Mawardi, Saari An adaptive estimation technique for finite escape time issue in mobile robot navigation |
| title | An adaptive estimation technique for finite escape time issue in mobile robot navigation |
| title_full | An adaptive estimation technique for finite escape time issue in mobile robot navigation |
| title_fullStr | An adaptive estimation technique for finite escape time issue in mobile robot navigation |
| title_full_unstemmed | An adaptive estimation technique for finite escape time issue in mobile robot navigation |
| title_short | An adaptive estimation technique for finite escape time issue in mobile robot navigation |
| title_sort | adaptive estimation technique for finite escape time issue in mobile robot navigation |
| topic | T Technology (General) TA Engineering (General). Civil engineering (General) TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/41904/1/An%20adaptive%20estimation%20technique%20for%20finite%20escape%20time.pdf http://umpir.ump.edu.my/id/eprint/41904/2/An%20adaptive%20estimation%20technique%20for%20finite%20escape%20time%20issue%20in%20mobile%20robot%20navigation_ABS.pdf |
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