The Impact of Cross-Correlation on Mobile Robot Localization
This paper deals with the theoretical investigation of the importance of cross-correlation in mobile robot localization. Two different case studies were conducted to examine the effects of cross-correlation terms on the estimation. The first case refers to a situation when a mobile robot moves and c...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Springer
2015
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/8059/1/B_5_Full_Paper.pdf |
| _version_ | 1825822048200425472 |
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| author | Hamzah, Ahmad Nur Aqilah, Othman |
| author_facet | Hamzah, Ahmad Nur Aqilah, Othman |
| author_sort | Hamzah, Ahmad |
| collection | UMP |
| description | This paper deals with the theoretical investigation of the importance of cross-correlation in mobile robot localization. Two different case studies were conducted to examine the effects of cross-correlation terms on the estimation. The first case refers to a situation when a mobile robot moves and calculates its position relative to a landmark, while in the second case the mobile robot is independent of the landmark position. The preliminary results obtained have indicated that the updated state covariance of the mobile robot that is independent of the landmark position could decrease or increase compared to that of the mobile robot that depends on the landmark position. The results are then evaluated through simulation which is consistently agrees with the theoretical results. |
| first_indexed | 2024-03-06T11:50:45Z |
| format | Article |
| id | UMPir8059 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T11:50:45Z |
| publishDate | 2015 |
| publisher | Springer |
| record_format | dspace |
| spelling | UMPir80592017-10-23T07:51:54Z http://umpir.ump.edu.my/id/eprint/8059/ The Impact of Cross-Correlation on Mobile Robot Localization Hamzah, Ahmad Nur Aqilah, Othman TK Electrical engineering. Electronics Nuclear engineering TA Engineering (General). Civil engineering (General) This paper deals with the theoretical investigation of the importance of cross-correlation in mobile robot localization. Two different case studies were conducted to examine the effects of cross-correlation terms on the estimation. The first case refers to a situation when a mobile robot moves and calculates its position relative to a landmark, while in the second case the mobile robot is independent of the landmark position. The preliminary results obtained have indicated that the updated state covariance of the mobile robot that is independent of the landmark position could decrease or increase compared to that of the mobile robot that depends on the landmark position. The results are then evaluated through simulation which is consistently agrees with the theoretical results. Springer 2015-10 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/8059/1/B_5_Full_Paper.pdf Hamzah, Ahmad and Nur Aqilah, Othman (2015) The Impact of Cross-Correlation on Mobile Robot Localization. International Journal of Control, Automation and Systems, 13 (5). pp. 1251-1261. ISSN 1598-6446. (Published) http://dx.doi.org/10.1007/s12555-014-0076-6 DOI: 10.1007/s12555-014-0076-6 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering TA Engineering (General). Civil engineering (General) Hamzah, Ahmad Nur Aqilah, Othman The Impact of Cross-Correlation on Mobile Robot Localization |
| title | The Impact of Cross-Correlation on Mobile Robot Localization |
| title_full | The Impact of Cross-Correlation on Mobile Robot Localization |
| title_fullStr | The Impact of Cross-Correlation on Mobile Robot Localization |
| title_full_unstemmed | The Impact of Cross-Correlation on Mobile Robot Localization |
| title_short | The Impact of Cross-Correlation on Mobile Robot Localization |
| title_sort | impact of cross correlation on mobile robot localization |
| topic | TK Electrical engineering. Electronics Nuclear engineering TA Engineering (General). Civil engineering (General) |
| url | http://umpir.ump.edu.my/id/eprint/8059/1/B_5_Full_Paper.pdf |
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