A Solution to Finite Escape Time for H∞ Filter Based SLAM
This paper proposed a solution to the Finite Escape Time problem in H∞ Filter based Simultaneous Localization and Mapping problem. Finite escape time has been one of the obstacle that holding the realization of H∞ Filter in many application. For this reason, a method of decorrelating some of the upd...
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| Format: | Conference or Workshop Item |
| Language: | English English |
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2015
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| Online Access: | http://umpir.ump.edu.my/id/eprint/10493/ http://umpir.ump.edu.my/id/eprint/10493/1/A%20Solution%20to%20Finite%20Escape%20Time%20for%20H%E2%88%9E%20Filter%20based%20SLAM.pdf http://umpir.ump.edu.my/id/eprint/10493/7/A%20Solution%20to%20Finite%20Escape%20Time%20for%20H%E2%88%9E%20Filter%20based%20SLAM-abstract.pdf |
| _version_ | 1848818761539256320 |
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| author | Hamzah, Ahmad Nur Aqilah, Othman |
| author_facet | Hamzah, Ahmad Nur Aqilah, Othman |
| author_sort | Hamzah, Ahmad |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | This paper proposed a solution to the Finite Escape Time problem in H∞ Filter based Simultaneous Localization and Mapping problem. Finite escape time has been one of the obstacle that holding the realization of H∞ Filter in many application. For this reason, a method of decorrelating some of the updated state covariance of the filter is suggested to avoid the finite escape time from occurred during mobile robot estimation. Two main cases are investigated in this paper to observe the filter performances. The simulation results have shown convincing outcomes to the overall estimation which can prevent the finite escape time in the estimation |
| first_indexed | 2025-11-15T01:42:48Z |
| format | Conference or Workshop Item |
| id | ump-10493 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-15T01:42:48Z |
| publishDate | 2015 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-104932018-01-18T01:33:23Z http://umpir.ump.edu.my/id/eprint/10493/ A Solution to Finite Escape Time for H∞ Filter Based SLAM Hamzah, Ahmad Nur Aqilah, Othman TK Electrical engineering. Electronics Nuclear engineering This paper proposed a solution to the Finite Escape Time problem in H∞ Filter based Simultaneous Localization and Mapping problem. Finite escape time has been one of the obstacle that holding the realization of H∞ Filter in many application. For this reason, a method of decorrelating some of the updated state covariance of the filter is suggested to avoid the finite escape time from occurred during mobile robot estimation. Two main cases are investigated in this paper to observe the filter performances. The simulation results have shown convincing outcomes to the overall estimation which can prevent the finite escape time in the estimation 2015 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/10493/1/A%20Solution%20to%20Finite%20Escape%20Time%20for%20H%E2%88%9E%20Filter%20based%20SLAM.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/10493/7/A%20Solution%20to%20Finite%20Escape%20Time%20for%20H%E2%88%9E%20Filter%20based%20SLAM-abstract.pdf Hamzah, Ahmad and Nur Aqilah, Othman (2015) A Solution to Finite Escape Time for H∞ Filter Based SLAM. In: 10th Asian Control Conference , 31 Mei - 3 Jun 2015 , Kota Kinabalu. pp. 1-6.. (Unpublished) (Unpublished) |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Hamzah, Ahmad Nur Aqilah, Othman A Solution to Finite Escape Time for H∞ Filter Based SLAM |
| title | A Solution to Finite Escape Time for H∞ Filter Based SLAM |
| title_full | A Solution to Finite Escape Time for H∞ Filter Based SLAM |
| title_fullStr | A Solution to Finite Escape Time for H∞ Filter Based SLAM |
| title_full_unstemmed | A Solution to Finite Escape Time for H∞ Filter Based SLAM |
| title_short | A Solution to Finite Escape Time for H∞ Filter Based SLAM |
| title_sort | solution to finite escape time for h∞ filter based slam |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/10493/ http://umpir.ump.edu.my/id/eprint/10493/1/A%20Solution%20to%20Finite%20Escape%20Time%20for%20H%E2%88%9E%20Filter%20based%20SLAM.pdf http://umpir.ump.edu.my/id/eprint/10493/7/A%20Solution%20to%20Finite%20Escape%20Time%20for%20H%E2%88%9E%20Filter%20based%20SLAM-abstract.pdf |