SLAM problem via H filter with compensation for intermittent observation

Yoshihiro Okawa, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper deals with the Simultaneous Localization and Mapping (SLAM) problem via the H filter with compensations for intermittent observations. In order to estimate positions of a robot and landmarks accurately under intermittent observations, we propose the method with a novel filter which detects and compensates intermittent observations by comparing the obtained data with their estimations. This paper also shows the convergence of the estimated error covariance matrices. With simulation and experimental results, we confirm that the state of the robot and the environmental conditions are estimated accurately via the proposed filter under intermittent observations and that the derived theorems of the convergence are correct.

Original languageEnglish
Title of host publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages386-391
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'SLAM problem via H<sub>∞</sub> filter with compensation for intermittent observation'. Together they form a unique fingerprint.

Cite this