H filtering convergence and it's application to SLAM

Hamzah Ahmad, Toru Namerikawa

研究成果: Conference contribution

10 被引用数 (Scopus)

抄録

KF-SLAM(Kalman filter-SLAM) have been used as a popular solution by researchers in many SLAM application. Nevertheless, it shortcomings of assumption for Gaussian noise limited its efficiency and demand researcher to consider better filter and algorithm to achieve a promising result of estimation. In this paper, we proposed one of its family, the H filter-based SLAM to determine its competency for SLAM problem. Unlike Kalman filter, H filter able to work in an unknown statistical noise behavior and thus more robust. It rely on a guess that the noise is in bounded energy and does not require a priori knowledge about the system. Therefore, we proposed the H filter as other available technique to infer the location for both robot and landmarks while simultaneously building the map. From the results of simulation, H filter produces better outcome than the Kalman filter especially in the linear case estimation. As a result, H filter may provides another available estimation methods with the capability to ensure and improve estimation for the robotic mapping problem especially in SLAM.

本文言語English
ホスト出版物のタイトルICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
ページ2875-2880
ページ数6
出版ステータスPublished - 2009
イベントICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, Japan
継続期間: 2009 8 182009 8 21

出版物シリーズ

名前ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings

Other

OtherICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
国/地域Japan
CityFukuoka
Period09/8/1809/8/21

ASJC Scopus subject areas

  • 情報システム
  • 制御およびシステム工学
  • 産業および生産工学

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