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:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/7110/ http://umpir.ump.edu.my/id/eprint/7110/1/fkee-2014-hamzah-Analyzing_the_Mobile.pdf

id	ump-7110
recordtype	eprints
spelling	ump-71102018-02-05T06:59:00Z 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..
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 Saifudin, Razali Mohd Rusllim, Mohamed Analyzing the Mobile Robot Localization Performance in Partially Observable Conditions
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.
format	Conference or Workshop Item
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
title	Analyzing the Mobile Robot Localization Performance in Partially Observable Conditions
title_short	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_sort	analyzing the mobile robot localization performance in partially observable conditions
publishDate	2014
url	http://umpir.ump.edu.my/id/eprint/7110/ http://umpir.ump.edu.my/id/eprint/7110/1/fkee-2014-hamzah-Analyzing_the_Mobile.pdf
first_indexed	2023-09-18T22:03:28Z
last_indexed	2023-09-18T22:03:28Z
_version_	1777414553218318336

Analyzing the Mobile Robot Localization Performance in Partially Observable Conditions

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