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Investigating State Covariance Properties During Finite Escape Time in H∞ Filter SLAM

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Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 538))

Abstract

This paper deals with the investigation of finite escape time problem in H∞ Filter based localization and mapping. Finite escape time in H∞ Filter has restricted the technique to be applied as the mobile robot cannot determine its location effectively due to inconsistent information. Therefore, an analysis to improved the current H∞ Filter is proposed to investigate the state covariance behavior during mobile robot estimation. Three main factors are being considered in this research namely the initial state covariance, the γ values and the type of noises. This paper also proposed a modified H∞ Filter to reduce the finite escape time problem in the estimation. The analysis and simulation results determine that the modified H∞ Filter has better performance compared to the normal H∞ Filter as well as to Kalman Filter for different γ, initial state covariance and works well in non-gaussian noise environment.

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Acknowledgements

The authors would like to thank Ministry of Higher Education and Universiti Malaysia Pahang for supporting this research under RDU160145 and RDU160379.

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Authors and Affiliations

  1. Faculty of Electrical & Electronics Engineering, University Malaysia Pahang, Pekan, Pahang, Malaysia

    Hamzah Ahmad, Nur Aqilah Othman, Mawardi Saari & Mohd Syakirin Ramli

Authors
  1. Hamzah Ahmad
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  2. Nur Aqilah Othman
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  3. Mawardi Saari
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  4. Mohd Syakirin Ramli
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Corresponding author

Correspondence to Hamzah Ahmad .

Editor information

Editors and Affiliations

  1. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Zainah Md Zain

  2. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Hamzah Ahmad

  3. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Dwi Pebrianti

  4. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Mahfuzah Mustafa

  5. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Nor Rul Hasma Abdullah

  6. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Rosdiyana Samad

  7. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Maziyah Mat Noh

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Ahmad, H., Othman, N.A., Saari, M., Ramli, M.S. (2019). Investigating State Covariance Properties During Finite Escape Time in H∞ Filter SLAM. In: Md Zain, Z., et al. Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018 . Lecture Notes in Electrical Engineering, vol 538. Springer, Singapore. https://doi.org/10.1007/978-981-13-3708-6_23

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  • DOI: https://doi.org/10.1007/978-981-13-3708-6_23

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-13-3707-9

  • Online ISBN: 978-981-13-3708-6

  • eBook Packages: EngineeringEngineering (R0)

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