An Approach of Fuzzy Logic H∞ Filter in Mobile Robot Navigation Considering Non-Gaussian Noise
( Modern Fuzzy Control Systems and Its Applications )
Publication series ： Modern Fuzzy Control Systems and Its Applications
Author： Hamzah Ahmad Nur Aqilah Othman and Saifudin Razali
Publisher： IntechOpen
Publication year： 2017
E-ISBN: INT6583468866
P-ISBN(Paperback): 9789535133896
P-ISBN(Hardback): 9789535133902
Subject： O29 applied mathematics
Keyword： 应用数学
Language： ENG
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An Approach of Fuzzy Logic H∞ Filter in Mobile Robot Navigation Considering Non-Gaussian Noise
Description
This chapter has presented an analysis of H∞ filter‐based mobile robot navigation with fuzzy logic to tolerate in non‐Gaussian noise conditions. The technique exploits the information obtained through H∞ filter measurement innovation to reduce the noises or the uncertainties during mobile robot observations. The simulation results depicted that the proposed technique has improved the mobile robot estimation as well as any landmark being observed. Different aspects such as γ values, noise parameters, intermittent measurement data lost and finite escape time issues are also analysed to investigate their effects in estimation. Different fuzzy logic design configurations were also studied to achieve better estimation results. As demonstrated in this work, fuzzy logic offers reliable estimation results compared to the conventional technique.
Chapter