Robust Filter Development to Pursue Robotic Localization and Mapping Problem

This paper deals with the development of a robust filter known as H Filter , as an approach to provide alternative solutions in robotic localization and mapping problem. In this problem, normally the environment conditions and noise characteristics are unknown which makes the Kalman Filter approach...

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Main Authors:	Hamzah, Ahmad, Namerikawa, Toru
Format:	Conference or Workshop Item
Language:	English
Published:	2011
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/3533/ http://umpir.ump.edu.my/id/eprint/3533/1/Robust_filter_development_to_pursue_robotic_localization_and_mapping_problem.pdf

id	ump-3533
recordtype	eprints
spelling	ump-35332018-04-11T00:58:03Z http://umpir.ump.edu.my/id/eprint/3533/ Robust Filter Development to Pursue Robotic Localization and Mapping Problem Hamzah, Ahmad Namerikawa, Toru TK Electrical engineering. Electronics Nuclear engineering This paper deals with the development of a robust filter known as H Filter , as an approach to provide alternative solutions in robotic localization and mapping problem. In this problem, normally the environment conditions and noise characteristics are unknown which makes the Kalman Filter approach suffers. H Filter is proposed due its advantage in estimating conditions in non-Gaussian noise which Kalman Filter cannot offer. The analysis is shown by comparing the performance between H infinity Filter and Extended Kalman Filter for the above problem. Based on the simulation analysis and preliminary experiments, there is a high reliability in estimation of H Filter compared to Extended Kalman Filter regarding the robot location and landmark positions. Hence, H Filter can provide better solution especially in specific environment conditions with unknown noise characteristics. 2011-05-08 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/3533/1/Robust_filter_development_to_pursue_robotic_localization_and_mapping_problem.pdf Hamzah, Ahmad and Namerikawa, Toru (2011) Robust Filter Development to Pursue Robotic Localization and Mapping Problem. In: National Conference on Electrical and Electronics Engineering (NCEEE 2012), 08-09 May 2012 , UTHM Library. pp. 1-4..
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 Namerikawa, Toru Robust Filter Development to Pursue Robotic Localization and Mapping Problem
description	This paper deals with the development of a robust filter known as H Filter , as an approach to provide alternative solutions in robotic localization and mapping problem. In this problem, normally the environment conditions and noise characteristics are unknown which makes the Kalman Filter approach suffers. H Filter is proposed due its advantage in estimating conditions in non-Gaussian noise which Kalman Filter cannot offer. The analysis is shown by comparing the performance between H infinity Filter and Extended Kalman Filter for the above problem. Based on the simulation analysis and preliminary experiments, there is a high reliability in estimation of H Filter compared to Extended Kalman Filter regarding the robot location and landmark positions. Hence, H Filter can provide better solution especially in specific environment conditions with unknown noise characteristics.
format	Conference or Workshop Item
author	Hamzah, Ahmad Namerikawa, Toru
author_facet	Hamzah, Ahmad Namerikawa, Toru
author_sort	Hamzah, Ahmad
title	Robust Filter Development to Pursue Robotic Localization and Mapping Problem
title_short	Robust Filter Development to Pursue Robotic Localization and Mapping Problem
title_full	Robust Filter Development to Pursue Robotic Localization and Mapping Problem
title_fullStr	Robust Filter Development to Pursue Robotic Localization and Mapping Problem
title_full_unstemmed	Robust Filter Development to Pursue Robotic Localization and Mapping Problem
title_sort	robust filter development to pursue robotic localization and mapping problem
publishDate	2011
url	http://umpir.ump.edu.my/id/eprint/3533/ http://umpir.ump.edu.my/id/eprint/3533/1/Robust_filter_development_to_pursue_robotic_localization_and_mapping_problem.pdf
first_indexed	2023-09-18T21:57:54Z
last_indexed	2023-09-18T21:57:54Z
_version_	1777414202146684928

Robust Filter Development to Pursue Robotic Localization and Mapping Problem

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