Analyzing the Mobile Robot Localization Performance in Partially Observable Conditions

This paper deals with theoretical investigation of robot localization considering partial observability conditions. The problem is very important as most of the mobile robot applications are controllable but not observable due to some aspects. The paper investigate the importance of correlation to t...

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Main Authors: Hamzah, Ahmad, Nur Aqilah, Othman, Saifudin, Razali, Mohd Rusllim, Mohamed
Format: Conference or Workshop Item
Language:English
Published: 2014
Subjects:
Online Access:http://umpir.ump.edu.my/id/eprint/7110/1/fkee-2014-hamzah-Analyzing_the_Mobile.pdf
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author Hamzah, Ahmad
Nur Aqilah, Othman
Saifudin, Razali
Mohd Rusllim, Mohamed
author_facet Hamzah, Ahmad
Nur Aqilah, Othman
Saifudin, Razali
Mohd Rusllim, Mohamed
author_sort Hamzah, Ahmad
collection UMP
description This paper deals with theoretical investigation of robot localization considering partial observability conditions. The problem is very important as most of the mobile robot applications are controllable but not observable due to some aspects. The paper investigate the importance of correlation to the mobile robot estimation through the technique of decorrelating some of the elements of state covariance of the updated state covariance. To demonstrate the effect of correlation, two cases of partial observability are examined which are the unstable and stable partial observability. The cases are build based on the configurations of the state covariance for mobile robot references when doing observations. Our preliminary results suggest that the system with stable partial observability shows very good and consistent estimation while the unstable case lead to inconsistency and erroneous estimation.
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spelling UMPir71102018-02-05T06:59:00Z http://umpir.ump.edu.my/id/eprint/7110/ Analyzing the Mobile Robot Localization Performance in Partially Observable Conditions Hamzah, Ahmad Nur Aqilah, Othman Saifudin, Razali Mohd Rusllim, Mohamed TK Electrical engineering. Electronics Nuclear engineering This paper deals with theoretical investigation of robot localization considering partial observability conditions. The problem is very important as most of the mobile robot applications are controllable but not observable due to some aspects. The paper investigate the importance of correlation to the mobile robot estimation through the technique of decorrelating some of the elements of state covariance of the updated state covariance. To demonstrate the effect of correlation, two cases of partial observability are examined which are the unstable and stable partial observability. The cases are build based on the configurations of the state covariance for mobile robot references when doing observations. Our preliminary results suggest that the system with stable partial observability shows very good and consistent estimation while the unstable case lead to inconsistency and erroneous estimation. 2014 Conference or Workshop Item NonPeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/7110/1/fkee-2014-hamzah-Analyzing_the_Mobile.pdf Hamzah, Ahmad and Nur Aqilah, Othman and Saifudin, Razali and Mohd Rusllim, Mohamed (2014) Analyzing the Mobile Robot Localization Performance in Partially Observable Conditions. In: IEEE Symposium on Industrial Electronics & Applications (ISIEA2014) , 28 September-1 October 2014 , Kota Kinabalu, Sabah. pp. 1-6.. (Published)
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Hamzah, Ahmad
Nur Aqilah, Othman
Saifudin, Razali
Mohd Rusllim, Mohamed
Analyzing the Mobile Robot Localization Performance in Partially Observable Conditions
title Analyzing the Mobile Robot Localization Performance in Partially Observable Conditions
title_full Analyzing the Mobile Robot Localization Performance in Partially Observable Conditions
title_fullStr Analyzing the Mobile Robot Localization Performance in Partially Observable Conditions
title_full_unstemmed Analyzing the Mobile Robot Localization Performance in Partially Observable Conditions
title_short Analyzing the Mobile Robot Localization Performance in Partially Observable Conditions
title_sort analyzing the mobile robot localization performance in partially observable conditions
topic TK Electrical engineering. Electronics Nuclear engineering
url http://umpir.ump.edu.my/id/eprint/7110/1/fkee-2014-hamzah-Analyzing_the_Mobile.pdf
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AT saifudinrazali analyzingthemobilerobotlocalizationperformanceinpartiallyobservableconditions
AT mohdrusllimmohamed analyzingthemobilerobotlocalizationperformanceinpartiallyobservableconditions