The Effect of Intermittent Measurement in Simultaneous Localization and Mapping

Intermittent measurement is defined as a situation where a mobile robot experiences loss of measurement data during observation due to sensor failure or imperfection of the system. The impact of intermittent measurement on the Simultaneous Localization and Mapping (SLAM) of a mobile robot is the sub...

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Main Authors: Nur Aqilah, Othman, Hamzah, Ahmad
Format: Conference or Workshop Item
Language:English
Published: 2013
Subjects:
Online Access:http://umpir.ump.edu.my/id/eprint/6555/1/The_Effect_Of_Intermittent_Measurement_In_Simultaneous_Localization_And_Mapping.pdf
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author Nur Aqilah, Othman
Hamzah, Ahmad
author_facet Nur Aqilah, Othman
Hamzah, Ahmad
author_sort Nur Aqilah, Othman
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description Intermittent measurement is defined as a situation where a mobile robot experiences loss of measurement data during observation due to sensor failure or imperfection of the system. The impact of intermittent measurement on the Simultaneous Localization and Mapping (SLAM) of a mobile robot is the subject of this paper. The analysis is important since SLAM requires recursive measurement data update throughout the process. In this paper, the effect of intermittent measurement on the state error covariance matrix was analyzed on two basic conditions, which are when the mobile robot is stationary and when it is in motion. We have observed the impact on the determinant of covariance matrix. It is proven by our analysis that intermittent measurement could cause inaccurate estimation of robot's position and might increase the state error covariance matrix.
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spelling UMPir65552018-02-05T07:18:16Z http://umpir.ump.edu.my/id/eprint/6555/ The Effect of Intermittent Measurement in Simultaneous Localization and Mapping Nur Aqilah, Othman Hamzah, Ahmad TK Electrical engineering. Electronics Nuclear engineering Intermittent measurement is defined as a situation where a mobile robot experiences loss of measurement data during observation due to sensor failure or imperfection of the system. The impact of intermittent measurement on the Simultaneous Localization and Mapping (SLAM) of a mobile robot is the subject of this paper. The analysis is important since SLAM requires recursive measurement data update throughout the process. In this paper, the effect of intermittent measurement on the state error covariance matrix was analyzed on two basic conditions, which are when the mobile robot is stationary and when it is in motion. We have observed the impact on the determinant of covariance matrix. It is proven by our analysis that intermittent measurement could cause inaccurate estimation of robot's position and might increase the state error covariance matrix. 2013 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/6555/1/The_Effect_Of_Intermittent_Measurement_In_Simultaneous_Localization_And_Mapping.pdf Nur Aqilah, Othman and Hamzah, Ahmad (2013) The Effect of Intermittent Measurement in Simultaneous Localization and Mapping. In: Control System, Computing and Engineering (ICCSCE) , 29 Nov - 1 Dec 2013 , Mindeb. pp. 152-156.. (Published) http://dx.doi.org/10.1109/ICCSCE.2013.6719950
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Nur Aqilah, Othman
Hamzah, Ahmad
The Effect of Intermittent Measurement in Simultaneous Localization and Mapping
title The Effect of Intermittent Measurement in Simultaneous Localization and Mapping
title_full The Effect of Intermittent Measurement in Simultaneous Localization and Mapping
title_fullStr The Effect of Intermittent Measurement in Simultaneous Localization and Mapping
title_full_unstemmed The Effect of Intermittent Measurement in Simultaneous Localization and Mapping
title_short The Effect of Intermittent Measurement in Simultaneous Localization and Mapping
title_sort effect of intermittent measurement in simultaneous localization and mapping
topic TK Electrical engineering. Electronics Nuclear engineering
url http://umpir.ump.edu.my/id/eprint/6555/1/The_Effect_Of_Intermittent_Measurement_In_Simultaneous_Localization_And_Mapping.pdf
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