Intermittent measurement analysis for mobile robot application

This research is about the investigating of the condition during intermittent measurement when Extended Kalman Filter (EKF) is applied for Simultaneous Localization and Mapping (SLAM) problem of mobile robot during measuring and estimating its environment while updating its location consistently. Th...

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Main Author:	Nurul Hasna, Hassan
Format:	Undergraduates Project Papers
Language:	English English English English
Published:	2016
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/17931/ http://umpir.ump.edu.my/id/eprint/17931/ http://umpir.ump.edu.my/id/eprint/17931/1/Intermittent%20measurement%20analysis%20for%20mobile%20robot%20application-Table%20of%20contents.pdf http://umpir.ump.edu.my/id/eprint/17931/2/Intermittent%20measurement%20analysis%20for%20mobile%20robot%20application-Abstract.pdf http://umpir.ump.edu.my/id/eprint/17931/3/Intermittent%20measurement%20analysis%20for%20mobile%20robot%20application-Chapter%201.pdf http://umpir.ump.edu.my/id/eprint/17931/4/Intermittent%20measurement%20analysis%20for%20mobile%20robot%20application-References.pdf

id	ump-17931
recordtype	eprints
spelling	ump-179312017-06-14T02:06:38Z http://umpir.ump.edu.my/id/eprint/17931/ Intermittent measurement analysis for mobile robot application Nurul Hasna, Hassan TK Electrical engineering. Electronics Nuclear engineering This research is about the investigating of the condition during intermittent measurement when Extended Kalman Filter (EKF) is applied for Simultaneous Localization and Mapping (SLAM) problem of mobile robot during measuring and estimating its environment while updating its location consistently. This problem is being analyzed because to reduce the mobile robot uncertainties or covariance state during it is working also to prevent data loosing that to be updated to the monitor. There are two purposes of this research. Firstly is to determine the performance of Extended Kalman Filter based Simultaneous Localization and Mapping (SLAM) and secondly is to determine the condition during intermittent measurement when Extended Kalman Filter (EKF) is applied for Simultaneous Localization and Mapping (SLAM) problem. Simultaneous Localization and Mapping (SLAM) method is used in achieving the objective; to determine the condition of statistical bound during intermittent measurement. A few technical approaches such as Extended Kalman Filter (EKF), H infinity Filter, Unscented Kalman Filter (UKF) and Particle Filter are used for estimation purposes. EKF is the most recommended method for SLAM solution. This is because the filter offers simple algorithm to follow and has lower computational cost compared to others. 2016-12 Undergraduates Project Papers NonPeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/17931/1/Intermittent%20measurement%20analysis%20for%20mobile%20robot%20application-Table%20of%20contents.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/17931/2/Intermittent%20measurement%20analysis%20for%20mobile%20robot%20application-Abstract.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/17931/3/Intermittent%20measurement%20analysis%20for%20mobile%20robot%20application-Chapter%201.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/17931/4/Intermittent%20measurement%20analysis%20for%20mobile%20robot%20application-References.pdf Nurul Hasna, Hassan (2016) Intermittent measurement analysis for mobile robot application. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang. http://iportal.ump.edu.my/lib/item?id=chamo:100079&theme=UMP2
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English English English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Nurul Hasna, Hassan Intermittent measurement analysis for mobile robot application
description	This research is about the investigating of the condition during intermittent measurement when Extended Kalman Filter (EKF) is applied for Simultaneous Localization and Mapping (SLAM) problem of mobile robot during measuring and estimating its environment while updating its location consistently. This problem is being analyzed because to reduce the mobile robot uncertainties or covariance state during it is working also to prevent data loosing that to be updated to the monitor. There are two purposes of this research. Firstly is to determine the performance of Extended Kalman Filter based Simultaneous Localization and Mapping (SLAM) and secondly is to determine the condition during intermittent measurement when Extended Kalman Filter (EKF) is applied for Simultaneous Localization and Mapping (SLAM) problem. Simultaneous Localization and Mapping (SLAM) method is used in achieving the objective; to determine the condition of statistical bound during intermittent measurement. A few technical approaches such as Extended Kalman Filter (EKF), H infinity Filter, Unscented Kalman Filter (UKF) and Particle Filter are used for estimation purposes. EKF is the most recommended method for SLAM solution. This is because the filter offers simple algorithm to follow and has lower computational cost compared to others.
format	Undergraduates Project Papers
author	Nurul Hasna, Hassan
author_facet	Nurul Hasna, Hassan
author_sort	Nurul Hasna, Hassan
title	Intermittent measurement analysis for mobile robot application
title_short	Intermittent measurement analysis for mobile robot application
title_full	Intermittent measurement analysis for mobile robot application
title_fullStr	Intermittent measurement analysis for mobile robot application
title_full_unstemmed	Intermittent measurement analysis for mobile robot application
title_sort	intermittent measurement analysis for mobile robot application
publishDate	2016
url	http://umpir.ump.edu.my/id/eprint/17931/ http://umpir.ump.edu.my/id/eprint/17931/ http://umpir.ump.edu.my/id/eprint/17931/1/Intermittent%20measurement%20analysis%20for%20mobile%20robot%20application-Table%20of%20contents.pdf http://umpir.ump.edu.my/id/eprint/17931/2/Intermittent%20measurement%20analysis%20for%20mobile%20robot%20application-Abstract.pdf http://umpir.ump.edu.my/id/eprint/17931/3/Intermittent%20measurement%20analysis%20for%20mobile%20robot%20application-Chapter%201.pdf http://umpir.ump.edu.my/id/eprint/17931/4/Intermittent%20measurement%20analysis%20for%20mobile%20robot%20application-References.pdf
first_indexed	2023-09-18T22:25:04Z
last_indexed	2023-09-18T22:25:04Z
_version_	1777415911585611776

Intermittent measurement analysis for mobile robot application

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