Article Per Year (5 Year)
p-Index From 2019 - 2024
0.339
P-Index
This Author published in this journals
All Journal Perfecting a Video Game with Game Metrics
Guangjie Yuan
Shanghai University
Computer Science & IT

Published : 1 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 1 Documents
Search

 1 
Maximum likelihood estimation-assisted ASVSF through state covariance-based 2D SLAM algorithm Heru Suwoyo; Yingzhong Tian; Wenbin Wang; Long Li; Andi Adriansyah; Fengfeng Xi; Guangjie Yuan
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 19, No 1: February 2021
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v19i1.16223

Abstract

The smooth variable structure filter (ASVSF) has been relatively considered as a new robust predictor-corrector method for estimating the state. In order to effectively utilize it, an SVSF requires the accurate system model, and exact prior knowledge includes both the process and measurement noise statistic. Unfortunately, the system model is always inaccurate because of some considerations avoided at the beginning. Moreover, the small addictive noises are partially known or even unknown. Of course, this limitation can degrade the performance of SVSF or also lead to divergence condition. For this reason, it is proposed through this paper an adaptive smooth variable structure filter (ASVSF) by conditioning the probability density function of a measurementto the unknown parameters at one iteration. This proposed method is assumed to accomplish the localization and direct point-based observation task of a wheeled mobile robot, TurtleBot2. Finally, by realistically simulating it and comparing to a conventional method, the proposed method has been showing a better accuracy and stability in term of root mean square error (RMSE) of the estimated map coordinate (EMC) and estimated path coordinate (EPC).
Co-Authors Andi Adriansyah Fengfeng Xi Long Li Suwoyo, Heru Wenbin Wang Yingzhong Tian