Unscented H∞ Filter based Simultaneous Localization and Mapping
Simultaneous localization and mapping (SLAM)is concerned to be the key point to realize the real autonomy mobile robot.Kalman filter has been used as a popular solution by researchers in many SLAM applications.In order to avoid shortcomings of assumption for Gaussian noises,this paper introduced unscented H filter into SLAM problem.The proposed method requires no a priori knowledge of the noise statistics and relies only upon that the noise is bounded.Simulation results presented to illustrate the effectiveness of the proposed method.
NI Pengfei LI Shurong
College of Information and Control Engineering,China University of Petroleum,Dongying,Shandong 257061,P.R.China
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-5
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）