A Solution to Finite Escape Time for H∞ Filter Based SLAM

This paper proposed a solution to the Finite Escape Time problem in H∞ Filter based Simultaneous Localization and Mapping problem. Finite escape time has been one of the obstacle that holding the realization of H∞ Filter in many application. For this reason, a method of decorrelating some of the upd...

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Main Authors:	Hamzah, Ahmad, Nur Aqilah, Othman
Format:	Conference or Workshop Item
Language:	English English
Published:	2015
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/10493/ http://umpir.ump.edu.my/id/eprint/10493/1/A%20Solution%20to%20Finite%20Escape%20Time%20for%20H%E2%88%9E%20Filter%20based%20SLAM.pdf http://umpir.ump.edu.my/id/eprint/10493/7/A%20Solution%20to%20Finite%20Escape%20Time%20for%20H%E2%88%9E%20Filter%20based%20SLAM-abstract.pdf

id	ump-10493
recordtype	eprints
spelling	ump-104932018-01-18T01:33:23Z http://umpir.ump.edu.my/id/eprint/10493/ A Solution to Finite Escape Time for H∞ Filter Based SLAM Hamzah, Ahmad Nur Aqilah, Othman TK Electrical engineering. Electronics Nuclear engineering This paper proposed a solution to the Finite Escape Time problem in H∞ Filter based Simultaneous Localization and Mapping problem. Finite escape time has been one of the obstacle that holding the realization of H∞ Filter in many application. For this reason, a method of decorrelating some of the updated state covariance of the filter is suggested to avoid the finite escape time from occurred during mobile robot estimation. Two main cases are investigated in this paper to observe the filter performances. The simulation results have shown convincing outcomes to the overall estimation which can prevent the finite escape time in the estimation 2015 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/10493/1/A%20Solution%20to%20Finite%20Escape%20Time%20for%20H%E2%88%9E%20Filter%20based%20SLAM.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/10493/7/A%20Solution%20to%20Finite%20Escape%20Time%20for%20H%E2%88%9E%20Filter%20based%20SLAM-abstract.pdf Hamzah, Ahmad and Nur Aqilah, Othman (2015) A Solution to Finite Escape Time for H∞ Filter Based SLAM. In: 10th Asian Control Conference, 31 Mei - 3 Jun 2015 , Kota Kinabalu. pp. 1-6.. (Unpublished)
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Hamzah, Ahmad Nur Aqilah, Othman A Solution to Finite Escape Time for H∞ Filter Based SLAM
description	This paper proposed a solution to the Finite Escape Time problem in H∞ Filter based Simultaneous Localization and Mapping problem. Finite escape time has been one of the obstacle that holding the realization of H∞ Filter in many application. For this reason, a method of decorrelating some of the updated state covariance of the filter is suggested to avoid the finite escape time from occurred during mobile robot estimation. Two main cases are investigated in this paper to observe the filter performances. The simulation results have shown convincing outcomes to the overall estimation which can prevent the finite escape time in the estimation
format	Conference or Workshop Item
author	Hamzah, Ahmad Nur Aqilah, Othman
author_facet	Hamzah, Ahmad Nur Aqilah, Othman
author_sort	Hamzah, Ahmad
title	A Solution to Finite Escape Time for H∞ Filter Based SLAM
title_short	A Solution to Finite Escape Time for H∞ Filter Based SLAM
title_full	A Solution to Finite Escape Time for H∞ Filter Based SLAM
title_fullStr	A Solution to Finite Escape Time for H∞ Filter Based SLAM
title_full_unstemmed	A Solution to Finite Escape Time for H∞ Filter Based SLAM
title_sort	solution to finite escape time for h∞ filter based slam
publishDate	2015
url	http://umpir.ump.edu.my/id/eprint/10493/ http://umpir.ump.edu.my/id/eprint/10493/1/A%20Solution%20to%20Finite%20Escape%20Time%20for%20H%E2%88%9E%20Filter%20based%20SLAM.pdf http://umpir.ump.edu.my/id/eprint/10493/7/A%20Solution%20to%20Finite%20Escape%20Time%20for%20H%E2%88%9E%20Filter%20based%20SLAM-abstract.pdf
first_indexed	2023-09-18T22:10:09Z
last_indexed	2023-09-18T22:10:09Z
_version_	1777414973511696384

A Solution to Finite Escape Time for H∞ Filter Based SLAM

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