Data association analysis in simultaneous localization and mapping problem

This paper examines the data association issues in Simultaneous Localization and Mapping Problem on two different techniques. Data association determines the system efficiency and there are limited numbers of papers attempts to analyze the conditions. Two filters namely the Extended Kalman Filter(EK...

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Main Authors:	Hamzah, Ahmad, Nur Aqilah, Othman, Mohd Mawardi, Saari, Mohd Syakirin, Ramli, Bakiss Hiyana, Abu Bakar
Format:	Conference or Workshop Item
Language:	English
Published:	Universiti Malaysia Pahang 2018
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/24437/ http://umpir.ump.edu.my/id/eprint/24437/2/95.1%20Data%20association%20analysis%20in%20simultaneous%20localization.pdf

id	ump-24437
recordtype	eprints
spelling	ump-244372019-10-18T01:13:45Z http://umpir.ump.edu.my/id/eprint/24437/ Data association analysis in simultaneous localization and mapping problem Hamzah, Ahmad Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli Bakiss Hiyana, Abu Bakar TK Electrical engineering. Electronics Nuclear engineering This paper examines the data association issues in Simultaneous Localization and Mapping Problem on two different techniques. Data association determines the system efficiency and there are limited numbers of papers attempts to analyze the conditions. Two filters namely the Extended Kalman Filter(EKF) and H∞ Filters are considered in this paper to improved the estimation results of both mobile robot and the environment locations. The updated state covariance is modified to obtain better performance compared to its original state. The simulation results have shown consistency and lower percentage of errors for the proposed technique. However, there are certain cases that showing the updated state covariance becomes unstable and yields erroneous results especially for EKF. Hence, further works are expected to be carried for this matter. Universiti Malaysia Pahang 2018-10 Conference or Workshop Item NonPeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/24437/2/95.1%20Data%20association%20analysis%20in%20simultaneous%20localization.pdf Hamzah, Ahmad and Nur Aqilah, Othman and Mohd Mawardi, Saari and Mohd Syakirin, Ramli and Bakiss Hiyana, Abu Bakar (2018) Data association analysis in simultaneous localization and mapping problem. In: International Conference On Artificial Intelligence And Robotics For Industrial Applications 2018 (AIR2018), 28-29 November 2018 , Putrajaya, Malaysia. pp. 1-7.. (Unpublished)
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Hamzah, Ahmad Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli Bakiss Hiyana, Abu Bakar Data association analysis in simultaneous localization and mapping problem
description	This paper examines the data association issues in Simultaneous Localization and Mapping Problem on two different techniques. Data association determines the system efficiency and there are limited numbers of papers attempts to analyze the conditions. Two filters namely the Extended Kalman Filter(EKF) and H∞ Filters are considered in this paper to improved the estimation results of both mobile robot and the environment locations. The updated state covariance is modified to obtain better performance compared to its original state. The simulation results have shown consistency and lower percentage of errors for the proposed technique. However, there are certain cases that showing the updated state covariance becomes unstable and yields erroneous results especially for EKF. Hence, further works are expected to be carried for this matter.
format	Conference or Workshop Item
author	Hamzah, Ahmad Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli Bakiss Hiyana, Abu Bakar
author_facet	Hamzah, Ahmad Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli Bakiss Hiyana, Abu Bakar
author_sort	Hamzah, Ahmad
title	Data association analysis in simultaneous localization and mapping problem
title_short	Data association analysis in simultaneous localization and mapping problem
title_full	Data association analysis in simultaneous localization and mapping problem
title_fullStr	Data association analysis in simultaneous localization and mapping problem
title_full_unstemmed	Data association analysis in simultaneous localization and mapping problem
title_sort	data association analysis in simultaneous localization and mapping problem
publisher	Universiti Malaysia Pahang
publishDate	2018
url	http://umpir.ump.edu.my/id/eprint/24437/ http://umpir.ump.edu.my/id/eprint/24437/2/95.1%20Data%20association%20analysis%20in%20simultaneous%20localization.pdf
first_indexed	2023-09-18T22:36:59Z
last_indexed	2023-09-18T22:36:59Z
_version_	1777416661252440064

Data association analysis in simultaneous localization and mapping problem

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