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

  • Hamzah AhmadEmail author
  • Nur Aqilah Othman
  • Mawardi Saari
  • Mohd Syakirin Ramli
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (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.

Keywords

H filter Finite escape time Estimation 

Notes

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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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Hamzah Ahmad
    • 1
    Email author
  • Nur Aqilah Othman
    • 1
  • Mawardi Saari
    • 1
  • Mohd Syakirin Ramli
    • 1
  1. 1.Faculty of Electrical & Electronics EngineeringUniversity Malaysia PahangPekanMalaysia

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