Investigating state covariance properties during finite escape time in H∞ filter SLAM

This paper deals with the investigation of finite escape time problem in H∞ Filter based localization and mapping. Finite escape time in H∞ Filter has restricted the technique to be applied as the mobile robot cannot determine its location effectively due to inconsistent information. Therefore, an a...

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Main Authors:	Hamzah, Ahmad, Nur Aqilah, Othman, Mohd Mawardi, Saari, Mohd Syakirin, Ramli
Format:	Book Section
Language:	English English English
Published:	Springer Singapore 2018
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/22934/ http://umpir.ump.edu.my/id/eprint/22934/ http://umpir.ump.edu.my/id/eprint/22934/ http://umpir.ump.edu.my/id/eprint/22934/2/70.1%20Investigating%20state%20covariance%20properties%20during%20finite%20escape.pdf http://umpir.ump.edu.my/id/eprint/22934/9/42.%20Investigating%20state%20covariance%20properties%20during%20finite%20escape%20time%20in%20Hoo%20filter%20SLAM.pdf http://umpir.ump.edu.my/id/eprint/22934/10/42.1%20Investigating%20state%20covariance%20properties%20during%20finite%20escape%20time%20in%20Hoo%20filter%20SLAM.pdf

id	ump-22934
recordtype	eprints
spelling	ump-229342019-05-21T07:46:16Z http://umpir.ump.edu.my/id/eprint/22934/ Investigating state covariance properties during finite escape time in H∞ filter SLAM Hamzah, Ahmad Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli TK Electrical engineering. Electronics Nuclear engineering This paper deals with the investigation of finite escape time problem in H∞ Filter based localization and mapping. Finite escape time in H∞ Filter has restricted the technique to be applied as the mobile robot cannot determine its location effectively due to inconsistent information. Therefore, an analysis to improved the current H∞ Filter Three main factors are being considered in this research namely the initial state covariance, the γ values and the type of noises. This paper also proposed a modified H∞ Filter to reduce the finite escape time problem in the estimation. The analysis and simulation results determine that the modified H∞ Filter has better performance compared to the normal H∞ Filter as well as to Kalman Filter for different γ, initial state covariance and works well in non-gaussian noise environment. Springer Singapore 2018 Book Section PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/22934/2/70.1%20Investigating%20state%20covariance%20properties%20during%20finite%20escape.pdf pdf en http://umpir.ump.edu.my/id/eprint/22934/9/42.%20Investigating%20state%20covariance%20properties%20during%20finite%20escape%20time%20in%20Hoo%20filter%20SLAM.pdf pdf en http://umpir.ump.edu.my/id/eprint/22934/10/42.1%20Investigating%20state%20covariance%20properties%20during%20finite%20escape%20time%20in%20Hoo%20filter%20SLAM.pdf Hamzah, Ahmad and Nur Aqilah, Othman and Mohd Mawardi, Saari and Mohd Syakirin, Ramli (2018) Investigating state covariance properties during finite escape time in H∞ filter SLAM. In: Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018. Lecture Notes in Electrical Engineering . Springer Singapore, Singapore, pp. 271-283. ISBN 978-981-13-3708-6 https://link.springer.com/chapter/10.1007/978-981-13-3708-6_23 DOI: https://doi.org/10.1007/978-981-13-3708-6_23
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Hamzah, Ahmad Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli Investigating state covariance properties during finite escape time in H∞ filter SLAM
description	This paper deals with the investigation of finite escape time problem in H∞ Filter based localization and mapping. Finite escape time in H∞ Filter has restricted the technique to be applied as the mobile robot cannot determine its location effectively due to inconsistent information. Therefore, an analysis to improved the current H∞ Filter Three main factors are being considered in this research namely the initial state covariance, the γ values and the type of noises. This paper also proposed a modified H∞ Filter to reduce the finite escape time problem in the estimation. The analysis and simulation results determine that the modified H∞ Filter has better performance compared to the normal H∞ Filter as well as to Kalman Filter for different γ, initial state covariance and works well in non-gaussian noise environment.
format	Book Section
author	Hamzah, Ahmad Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli
author_facet	Hamzah, Ahmad Nur Aqilah, Othman Mohd Mawardi, Saari Mohd Syakirin, Ramli
author_sort	Hamzah, Ahmad
title	Investigating state covariance properties during finite escape time in H∞ filter SLAM
title_short	Investigating state covariance properties during finite escape time in H∞ filter SLAM
title_full	Investigating state covariance properties during finite escape time in H∞ filter SLAM
title_fullStr	Investigating state covariance properties during finite escape time in H∞ filter SLAM
title_full_unstemmed	Investigating state covariance properties during finite escape time in H∞ filter SLAM
title_sort	investigating state covariance properties during finite escape time in h∞ filter slam
publisher	Springer Singapore
publishDate	2018
url	http://umpir.ump.edu.my/id/eprint/22934/ http://umpir.ump.edu.my/id/eprint/22934/ http://umpir.ump.edu.my/id/eprint/22934/ http://umpir.ump.edu.my/id/eprint/22934/2/70.1%20Investigating%20state%20covariance%20properties%20during%20finite%20escape.pdf http://umpir.ump.edu.my/id/eprint/22934/9/42.%20Investigating%20state%20covariance%20properties%20during%20finite%20escape%20time%20in%20Hoo%20filter%20SLAM.pdf http://umpir.ump.edu.my/id/eprint/22934/10/42.1%20Investigating%20state%20covariance%20properties%20during%20finite%20escape%20time%20in%20Hoo%20filter%20SLAM.pdf
first_indexed	2023-09-18T22:34:08Z
last_indexed	2023-09-18T22:34:08Z
_version_	1777416481821163520

Investigating state covariance properties during finite escape time in H∞ filter SLAM

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