Feasibility study of partial observability in H filtering for robot localization and mapping problem

Hamzah Ahmad, Toru Namerikawa

研究成果: Conference contribution

14 被引用数 (Scopus)

抄録

This paper presents H Filter SLAM, which is also known as the minimax filter to estimate the robot and landmarks location with the analysis on partial observability. Some convergence conditions are also presented to aid the analysis. Due to SLAM is a controllable but unobservable problem, it's difficult to estimate the position of robot and landmarks even though the control inputs are given to the system. As a result, Covariance Inflation which is a method of adding a pseudo positive semidefinite(PsD) matrix is proposed as one approach to analyze Partial Observability effects in SLAM and to reduce the computation cost. H Filter is capable of withstand non-gaussian noise characteristics and therefore, may provide another available approach towards SLAM solution.

本文言語English
ホスト出版物のタイトルProceedings of the 2010 American Control Conference, ACC 2010
ページ3980-3985
ページ数6
出版ステータスPublished - 2010 10 15
イベント2010 American Control Conference, ACC 2010 - Baltimore, MD, United States
継続期間: 2010 6 302010 7 2

出版物シリーズ

名前Proceedings of the 2010 American Control Conference, ACC 2010

Other

Other2010 American Control Conference, ACC 2010
国/地域United States
CityBaltimore, MD
Period10/6/3010/7/2

ASJC Scopus subject areas

  • 制御およびシステム工学

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