Intermittent measurement and finite escape time correlations study in H∞ filter in navigation

Hamzah, Ahmad and Mohd Syakirin, Ramli and Nur Aqilah, Othman and Badaruddin, Mohamad and Mohd Mawardi, Saari (2022) Intermittent measurement and finite escape time correlations study in H∞ filter in navigation. In: Lecture Notes in Electrical Engineering; 6th International Conference on Electrical, Control and Computer Engineering, InECCE 2021 , 23 August 2021 , Kuantan, Pahang. pp. 601-611., 842 (274719). ISSN 1876-1100 ISBN 978-981168689-4

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Abstract

This paper introduces the analysis of finite escape time and intermittent measurement study in H∞ Filter in mobile robot navigation. The study aims to analyze the H∞ Filter performances for mobile robot navigation when finite escape time and measurements data are sometimes missing during observation. In our case, a mobile robot is arbitrarily placed in an unknown environment and then it must construct a map and concurrently localize itself in the built map by using H∞ Filter. Both Finite escape time and missing measurement data issues are observed to see their correlations and effects to the estimation. This paper shows that, even if a measurement data is missing or there are some uncertainties exist during observations, information is still available for the robot to estimate its location and landmarks effectively. Through simulations, if both problems occurred frequently, then the mobile robot lost its estimation. Based on the experimental results, it was found that, even if finite escape time happens and measurements are sometimes missing during mobile robot observations, the filter is still capable of providing reliable information on the estimation.

Item Type:	Conference or Workshop Item (Lecture)
Additional Information:	Indexed by Scopus
Uncontrolled Keywords:	H∞ filter; Intermittent measurement; Mobile robot; Navigation; State covariance
Subjects:	T Technology > T Technology (General) T Technology > TA Engineering (General). Civil engineering (General) T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division:	College of Engineering Faculty of Electrical and Electronic Engineering Technology Faculty of Manufacturing and Mechatronic Engineering Technology
Depositing User:	Mr Muhamad Firdaus Janih@Jaini
Date Deposited:	06 Dec 2023 01:50
Last Modified:	06 Dec 2023 01:50
URI:	http://umpir.ump.edu.my/id/eprint/39521
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