Hamzah, Ahmad and Namerikawa, Toru (2011) Robust Filter Development to Pursue Robotic Localization and Mapping Problem. In: National Conference on Electrical and Electronics Engineering (NCEEE 2012) , 08-09 May 2012 , UTHM Library. pp. 1-4..
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Abstract
This paper deals with the development of a robust filter known as H Filter , as an approach to provide alternative solutions in robotic localization and mapping problem. In this problem, normally the environment conditions and noise characteristics are unknown which makes the Kalman Filter approach suffers. H Filter is proposed due its advantage in estimating conditions in non-Gaussian noise which Kalman Filter cannot offer. The analysis is shown by comparing the performance between H infinity Filter and Extended Kalman Filter for the above problem. Based on the simulation analysis and preliminary experiments, there is a high reliability in estimation of H Filter compared to Extended Kalman Filter regarding the robot location and landmark positions. Hence, H Filter can provide better solution especially in specific environment conditions with unknown noise characteristics.
| Item Type: | Conference or Workshop Item (Speech) |
|---|---|
| Uncontrolled Keywords: | Renewable fuel; Ethanol; Numerical simulation; Auto ignition; Single-step mechanism |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Faculty/Division: | Faculty of Electrical & Electronic Engineering Unspecified |
| Depositing User: | Trainee1 |
| Date Deposited: | 15 Jul 2013 08:24 |
| Last Modified: | 11 Apr 2018 00:58 |
| URI: | http://umpir.ump.edu.my/id/eprint/3533 |
| Download Statistic: | View Download Statistics |
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