TY - GEN
T1 - Robot localization and mapping problem with bounded noise uncertainties
AU - Ahmad, Hamzah
AU - Namerikawa, Toru
PY - 2012/12/1
Y1 - 2012/12/1
N2 - This paper deals with H∞ Filter based SLAM which is also known as minimax filter to estimate robot and landmarks location whose able to stand for non-gaussian noise characteristics. Based on our findings, by selecting appropriate γ and initial state covariance matrix in H ∞ Filter, the estimation results can show better performance in comparison to the Kalman Filter approach. From the analysis of convergence properties of H∞ Filter, it is found that the filter is capable to provide a reliable estimation. Besides, from the simulation results, H ∞ Filter produces better outcome than the Kalman Filter in the nonlinear case estimation. These condition subsequently provides alternative estimation techniques with the capability to ensure and improve estimation in the robotic mapping problem especially in SLAM.
AB - This paper deals with H∞ Filter based SLAM which is also known as minimax filter to estimate robot and landmarks location whose able to stand for non-gaussian noise characteristics. Based on our findings, by selecting appropriate γ and initial state covariance matrix in H ∞ Filter, the estimation results can show better performance in comparison to the Kalman Filter approach. From the analysis of convergence properties of H∞ Filter, it is found that the filter is capable to provide a reliable estimation. Besides, from the simulation results, H ∞ Filter produces better outcome than the Kalman Filter in the nonlinear case estimation. These condition subsequently provides alternative estimation techniques with the capability to ensure and improve estimation in the robotic mapping problem especially in SLAM.
KW - Estimation
KW - H Filter
KW - Kalman Filter
KW - Nonlinear
KW - SLAM
UR - http://www.scopus.com/inward/record.url?scp=84876764709&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84876764709&partnerID=8YFLogxK
U2 - 10.1109/ISIEA.2012.6496626
DO - 10.1109/ISIEA.2012.6496626
M3 - Conference contribution
AN - SCOPUS:84876764709
SN - 9781467330046
T3 - ISIEA 2012 - 2012 IEEE Symposium on Industrial Electronics and Applications
SP - 187
EP - 192
BT - ISIEA 2012 - 2012 IEEE Symposium on Industrial Electronics and Applications
T2 - 2012 IEEE Symposium on Industrial Electronics and Applications, ISIEA 2012
Y2 - 23 September 2012 through 26 September 2012
ER -