TY - GEN
T1 - Robot localization and mapping problem with unknown noise characteristics
AU - Ahmad, Hamzah
AU - Namerikawa, Toru
PY - 2010
Y1 - 2010
N2 - In this paper, we examine the H? ?Filter-based SLAM especially about its convergence properties. In contrast to Kalman Filter approach that considers zero mean gaussian noise, H∞ Filter is more robust and may provide sufficient solutions for SLAM in an environment with unknown statistical behavior. Due to this advantage, H∞ Filter is proposed in this paper, to efficiently estimate the robot and landmarks location under worst case situations. H∞ Filter requires the designer to appropriately choose the noise's covariance with respect to γ to obtain a desired outcome. We show some of the conditions to be satisfy in order to achieve better estimation results than Kalman Filter. From the experimental results, H∞Filter performs better than Kalman Filter for a case of bigger robot initial uncertainties. Subsequently, this proved that H ∞ Filter can provide another available estimation method for especially in SLAM.
AB - In this paper, we examine the H? ?Filter-based SLAM especially about its convergence properties. In contrast to Kalman Filter approach that considers zero mean gaussian noise, H∞ Filter is more robust and may provide sufficient solutions for SLAM in an environment with unknown statistical behavior. Due to this advantage, H∞ Filter is proposed in this paper, to efficiently estimate the robot and landmarks location under worst case situations. H∞ Filter requires the designer to appropriately choose the noise's covariance with respect to γ to obtain a desired outcome. We show some of the conditions to be satisfy in order to achieve better estimation results than Kalman Filter. From the experimental results, H∞Filter performs better than Kalman Filter for a case of bigger robot initial uncertainties. Subsequently, this proved that H ∞ Filter can provide another available estimation method for especially in SLAM.
UR - http://www.scopus.com/inward/record.url?scp=78649405727&partnerID=8YFLogxK
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U2 - 10.1109/CCA.2010.5611272
DO - 10.1109/CCA.2010.5611272
M3 - Conference contribution
AN - SCOPUS:78649405727
SN - 9781424453627
T3 - Proceedings of the IEEE International Conference on Control Applications
SP - 1275
EP - 1280
BT - 2010 IEEE International Conference on Control Applications, CCA 2010
T2 - 2010 IEEE International Conference on Control Applications, CCA 2010
Y2 - 8 September 2010 through 10 September 2010
ER -