An adaptive estimation technique for finite escape time issue in mobile robot navigation

Hamzah, Ahmad and Nur Aqilah, Othman and Maziyah, Mat Noh and Zainah, Md Zain and Mohd Mawardi, Saari (2023) An adaptive estimation technique for finite escape time issue in mobile robot navigation. In: 2023 IEEE 11th Conference on Systems, Process and Control, ICSPC 2023 - Proceedings. 11th IEEE Conference on Systems, Process and Control, ICSPC 2023 , 16 December 2023 , Malacca. pp. 205-209. (197292). ISBN 979-835034086-0 (Published)

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Abstract

This paper deals with the analysis of H infinity Filter for mobile robot navigation considering the Finite Escape Time problem. H infinity Filter has disadvantages in navigation as the current states of estimation may lead to erroneous results due to the finite escape time issue. This is a case where the estimation may become erroneuous due to huge amount of state covariance produced by the updated state covariance during mobile robot observations. Therefore, the state covariance is modified to avoid the occurrence of finite escape time when mobile robot moves in a surrounding area. The updated state covariance is changed by checking the state covariance matrix through the Cholesky function to provide a reliable positive semidefinite matrix during the observation process. Simulation results have described that the performances are better compared to the normal H infinity Filter which illustrates a number of finite escape time during mobile robot movements.

Item Type:	Conference or Workshop Item (Other)
Additional Information:	Indexed by Scopus
Uncontrolled Keywords:	Finite escape time; H infinity filter; 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:	Faculty of Electrical and Electronic Engineering Technology
Depositing User:	Mr Muhamad Firdaus Janih@Jaini
Date Deposited:	30 Aug 2024 00:15
Last Modified:	30 Aug 2024 00:15
URI:	http://umpir.ump.edu.my/id/eprint/41904
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