FEKF Estimation for Mobile Robot Localization and Mapping Considering Noise Divergence

This paper proposed an approach of Fuzzy-Extended Kalman Filter(FEKF) for mobile robot localization and mapping under unknown noise characteristics. The technique apply the information extracted from EKF measurement innovation to derive the best estimation output for a mobile robot during its observ...

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Main Authors:	Hamzah, Ahmad, Nur Aqilah, Othman, Saifudin, Razali, Mohd Razali, Daud
Format:	Conference or Workshop Item
Language:	English English
Published:	2016
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/11195/ http://umpir.ump.edu.my/id/eprint/11195/1/FEKF%20Estimation%20for%20Mobile%20Robot%20Localization%20and%20Mapping%20Considering%20Noise%20Divergence.pdf http://umpir.ump.edu.my/id/eprint/11195/7/fkee-2015-Hamzah-FEKF%20Estimation%20for%20Mobile.pdf

id	ump-11195
recordtype	eprints
spelling	ump-111952018-09-05T04:32:24Z http://umpir.ump.edu.my/id/eprint/11195/ FEKF Estimation for Mobile Robot Localization and Mapping Considering Noise Divergence Hamzah, Ahmad Nur Aqilah, Othman Saifudin, Razali Mohd Razali, Daud TK Electrical engineering. Electronics Nuclear engineering This paper proposed an approach of Fuzzy-Extended Kalman Filter(FEKF) for mobile robot localization and mapping under unknown noise characteristics. The technique apply the information extracted from EKF measurement innovation to derive the best estimation output for a mobile robot during its observations. These information is then fuzzified using Fuzzy Logic technique with very few design rules to control the information which at the end further reducing the error about the measurement and consequently provide better localization and mapping. Simulation results are also presented to describe the efficiency of the proposed method in comparison with the normal EKF estimation that emphasize FEKF exceeds the estimation results of normal EKF in non-Gaussian noise environment. 2016 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/11195/1/FEKF%20Estimation%20for%20Mobile%20Robot%20Localization%20and%20Mapping%20Considering%20Noise%20Divergence.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/11195/7/fkee-2015-Hamzah-FEKF%20Estimation%20for%20Mobile.pdf Hamzah, Ahmad and Nur Aqilah, Othman and Saifudin, Razali and Mohd Razali, Daud (2016) FEKF Estimation for Mobile Robot Localization and Mapping Considering Noise Divergence. In: Malaysian Technical Universities Conference on Engineering and Technology (MUCET) 2015, 11-13 October 2015 , Johor Bahru, Johor, Malaysia. .
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 Saifudin, Razali Mohd Razali, Daud FEKF Estimation for Mobile Robot Localization and Mapping Considering Noise Divergence
description	This paper proposed an approach of Fuzzy-Extended Kalman Filter(FEKF) for mobile robot localization and mapping under unknown noise characteristics. The technique apply the information extracted from EKF measurement innovation to derive the best estimation output for a mobile robot during its observations. These information is then fuzzified using Fuzzy Logic technique with very few design rules to control the information which at the end further reducing the error about the measurement and consequently provide better localization and mapping. Simulation results are also presented to describe the efficiency of the proposed method in comparison with the normal EKF estimation that emphasize FEKF exceeds the estimation results of normal EKF in non-Gaussian noise environment.
format	Conference or Workshop Item
author	Hamzah, Ahmad Nur Aqilah, Othman Saifudin, Razali Mohd Razali, Daud
author_facet	Hamzah, Ahmad Nur Aqilah, Othman Saifudin, Razali Mohd Razali, Daud
author_sort	Hamzah, Ahmad
title	FEKF Estimation for Mobile Robot Localization and Mapping Considering Noise Divergence
title_short	FEKF Estimation for Mobile Robot Localization and Mapping Considering Noise Divergence
title_full	FEKF Estimation for Mobile Robot Localization and Mapping Considering Noise Divergence
title_fullStr	FEKF Estimation for Mobile Robot Localization and Mapping Considering Noise Divergence
title_full_unstemmed	FEKF Estimation for Mobile Robot Localization and Mapping Considering Noise Divergence
title_sort	fekf estimation for mobile robot localization and mapping considering noise divergence
publishDate	2016
url	http://umpir.ump.edu.my/id/eprint/11195/ http://umpir.ump.edu.my/id/eprint/11195/1/FEKF%20Estimation%20for%20Mobile%20Robot%20Localization%20and%20Mapping%20Considering%20Noise%20Divergence.pdf http://umpir.ump.edu.my/id/eprint/11195/7/fkee-2015-Hamzah-FEKF%20Estimation%20for%20Mobile.pdf
first_indexed	2023-09-18T22:11:40Z
last_indexed	2023-09-18T22:11:40Z
_version_	1777415068147777536

FEKF Estimation for Mobile Robot Localization and Mapping Considering Noise Divergence

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