NDLI: H filtering convergence and it's application to SLAM

Content Provider	IEEE Xplore Digital Library
Author	Ahmad, H. Namerikawa, T.
Copyright Year	2009
Description	Author affiliation: Department of System Design Engineering, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522 JAPAN (Namerikawa, T.) \|\| Division of Electrical Engineering and Computer Science, Kanazawa University, Kakuma Machi, Ishikawa, 920-1167 Japan (Ahmad, H.)
Abstract	KF-SLAM(Kalman filter-SLAM) have been used as a popular solution by researchers in many SLAM application. Nevertheless, it shortcomings of assumption for Gaussian noise limited its efficiency and demand researcher to consider better filter and algorithm to achieve a promising result of estimation. In this paper, we proposed one of its family, the H filter-based SLAM to determine its competency for SLAM problem. Unlike Kalman filter, H filter able to work in an unknown statistical noise behavior and thus more robust. It rely on a guess that the noise is in bounded energy and does not require a priori knowledge about the system. Therefore, we proposed the H filter as other available technique to infer the location for both robot and landmarks while simultaneously building the map. From the results of simulation, H filter produces better outcome than the Kalman filter especially in the linear case estimation. As a result, H filter may provides another available estimation methods with the capability to ensure and improve estimation for the robotic mapping problem especially in SLAM.
Starting Page	2875
Ending Page	2880
File Size	696511
Page Count	6
File Format	PDF
ISBN	9784907764340
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-08-18
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	SICE
Subject Keyword	Simultaneous localization and mapping Filters Application software Robots Convergence Electronic mail Gaussian noise Noise robustness Space exploration Performance analysis Kalman filter SLAM Estimation H∞ filter
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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