FEKF Estimation for Mobile Robot Localization and Mapping Considering Noise Divergence

• Main Authors: Hamzah, Ahmad, Nur Aqilah, Othman, Saifudin, Razali, Mohd Razali, Daud
• Format: Conference or Workshop Item
• Language: English; English
• Published: 2016
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://umpir.ump.edu.my/id/eprint/11195/1/FEKF%20Estimation%20for%20Mobile%20Robot%20Localization%20and%20Mapping%20Considering%20Noise%20Divergence.pdf; http://umpir.ump.edu.my/id/eprint/11195/7/fkee-2015-Hamzah-FEKF%20Estimation%20for%20Mobile.pdf; http://umpir.ump.edu.my/id/eprint/11195/

This paper proposed an approach of Fuzzy-Extended Kalman Filter(FEKF) for mobile robot localization and mapping under unknown noise characteristics. The technique apply the information extracted from EKF measurement innovation to derive the best estimation output for a mobile robot during its observ...