逃避時間回避を考慮したH∞フィルタによる移動ロボットの自己位置推定と環境認識

概要

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This paper deals with the Simultaneous Localization and Mapping problem via H∞ filter considering finite escape time. The estimation via H∞ filter occurs finite escape time depending on the value of the parameter γ and then the estimation fails or deteriorates. In order to avoid it, we propose a novel algorithm of the update equation of the filter gain. The convergence of the error covariance matrices are proven. In simulation and experimental results, the avoidance of the finite escape time and the correctness of derived theorems for the convergence are confirmed and then we can show robot's state and environment information can be estimated.
公益社団法人計測自動制御学会の論文