HF-Fuzzy Logic based Mobile Robot Navigation; A Solution to Finite Escape Time

This paper deals with H∞ Filter(HF)-Fuzzy logic based mobile robot localization and mapping as an approach to prevent the Finite Escape Time(FET) problem in HF. The FET problem has been limiting the HF capabilities in estimation for decades and has been one of the important aspect to be considered t...

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Main Authors:	Hamzah, Ahmad, Nur Aqilah, Othman
Format:	Conference or Workshop Item
Language:	English English
Published:	2015
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/10508/ http://umpir.ump.edu.my/id/eprint/10508/1/HF-Fuzzy%20Logic%20based%20Mobile%20Robot%20Navigation-%20A%20Solution%20to%20Finite%20Escape%20Time.pdf http://umpir.ump.edu.my/id/eprint/10508/7/fkee-2015-hamzah-%20HF-Fuzzy%20Logic.pdf

id	ump-10508
recordtype	eprints
spelling	ump-105082018-01-18T01:51:35Z http://umpir.ump.edu.my/id/eprint/10508/ HF-Fuzzy Logic based Mobile Robot Navigation; A Solution to Finite Escape Time Hamzah, Ahmad Nur Aqilah, Othman TK Electrical engineering. Electronics Nuclear engineering This paper deals with H∞ Filter(HF)-Fuzzy logic based mobile robot localization and mapping as an approach to prevent the Finite Escape Time(FET) problem in HF. The FET problem has been limiting the HF capabilities in estimation for decades and has been one of the important aspect to be considered to ensure HF performs well during mobile robot observations. The proposed technique focusses on the HF innovation stage by including very few Fuzzy Logic rules, and fuzzy sets. The design is generally divided into two stages; firstly, the analysis of HF innovation characteristics and then the implementation of Fuzzy Logic technique into the system. The analysis also presents the preliminary study on different membership functions to discover the best possible technique to combine with HF based mobile robot localization. The simulation results proved that Fuzzy Logic can be used to avoid the FET from occurred while at the same time improving the estimation of both mobile robot and landmarks. 2015 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/10508/1/HF-Fuzzy%20Logic%20based%20Mobile%20Robot%20Navigation-%20A%20Solution%20to%20Finite%20Escape%20Time.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/10508/7/fkee-2015-hamzah-%20HF-Fuzzy%20Logic.pdf Hamzah, Ahmad and Nur Aqilah, Othman (2015) HF-Fuzzy Logic based Mobile Robot Navigation; A Solution to Finite Escape Time. In: 3rd International Conference On Electrical, Control And Computer Engineering 2015 (INECCE 2015), 27-28 October 2015 , Kuantan, Pahang. . (In Press)
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Hamzah, Ahmad Nur Aqilah, Othman HF-Fuzzy Logic based Mobile Robot Navigation; A Solution to Finite Escape Time
description	This paper deals with H∞ Filter(HF)-Fuzzy logic based mobile robot localization and mapping as an approach to prevent the Finite Escape Time(FET) problem in HF. The FET problem has been limiting the HF capabilities in estimation for decades and has been one of the important aspect to be considered to ensure HF performs well during mobile robot observations. The proposed technique focusses on the HF innovation stage by including very few Fuzzy Logic rules, and fuzzy sets. The design is generally divided into two stages; firstly, the analysis of HF innovation characteristics and then the implementation of Fuzzy Logic technique into the system. The analysis also presents the preliminary study on different membership functions to discover the best possible technique to combine with HF based mobile robot localization. The simulation results proved that Fuzzy Logic can be used to avoid the FET from occurred while at the same time improving the estimation of both mobile robot and landmarks.
format	Conference or Workshop Item
author	Hamzah, Ahmad Nur Aqilah, Othman
author_facet	Hamzah, Ahmad Nur Aqilah, Othman
author_sort	Hamzah, Ahmad
title	HF-Fuzzy Logic based Mobile Robot Navigation; A Solution to Finite Escape Time
title_short	HF-Fuzzy Logic based Mobile Robot Navigation; A Solution to Finite Escape Time
title_full	HF-Fuzzy Logic based Mobile Robot Navigation; A Solution to Finite Escape Time
title_fullStr	HF-Fuzzy Logic based Mobile Robot Navigation; A Solution to Finite Escape Time
title_full_unstemmed	HF-Fuzzy Logic based Mobile Robot Navigation; A Solution to Finite Escape Time
title_sort	hf-fuzzy logic based mobile robot navigation; a solution to finite escape time
publishDate	2015
url	http://umpir.ump.edu.my/id/eprint/10508/ http://umpir.ump.edu.my/id/eprint/10508/1/HF-Fuzzy%20Logic%20based%20Mobile%20Robot%20Navigation-%20A%20Solution%20to%20Finite%20Escape%20Time.pdf http://umpir.ump.edu.my/id/eprint/10508/7/fkee-2015-hamzah-%20HF-Fuzzy%20Logic.pdf
first_indexed	2023-09-18T22:10:11Z
last_indexed	2023-09-18T22:10:11Z
_version_	1777414975630868480

HF-Fuzzy Logic based Mobile Robot Navigation; A Solution to Finite Escape Time

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