Robust Filter Development to Pursue Robotic Localization and Mapping Problem
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...
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Conference or Workshop Item |
| Published: |
2011
|
| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/3533/ http://umpir.ump.edu.my/3533/1/Robust_filter_development_to_pursue_robotic_localization_and_mapping_problem.pdf |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Summary: | 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. |
|---|