SLAM problem via H∞ filter with compensation for intermittent observation

Yoshihiro Okawa; Toru Namerikawa

doi:10.1109/AMC.2014.6823313

SLAM problem via H_∞ filter with compensation for intermittent observation

Yoshihiro Okawa, Toru Namerikawa

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	386-391
Number of pages	6
ISBN (Print)	9781479923243
DOIs	https://doi.org/10.1109/AMC.2014.6823313
Publication status	Published - 2014 Jan 1
Event	2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan Duration: 2014 Mar 14 → 2014 Mar 16

Publication series

Name	International Workshop on Advanced Motion Control, AMC

Other

Other	2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
Country/Territory	Japan
City	Yokohama
Period	14/3/14 → 14/3/16

ASJC Scopus subject areas

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

Access to Document

10.1109/AMC.2014.6823313

Cite this

Okawa, Y., & Namerikawa, T. (2014). SLAM problem via H_∞ filter with compensation for intermittent observation. In 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014 (pp. 386-391). [6823313] (International Workshop on Advanced Motion Control, AMC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823313

SLAM problem via H_∞ filter with compensation for intermittent observation. / Okawa, Yoshihiro; Namerikawa, Toru.
2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 386-391 6823313 (International Workshop on Advanced Motion Control, AMC).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Okawa, Y & Namerikawa, T 2014, SLAM problem via H_∞ filter with compensation for intermittent observation. in 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014., 6823313, International Workshop on Advanced Motion Control, AMC, Institute of Electrical and Electronics Engineers Inc., pp. 386-391, 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014, Yokohama, Japan, 14/3/14. https://doi.org/10.1109/AMC.2014.6823313

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