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Robust Filter Development to Pursue Robotic Localization and Mapping Problem

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
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