Investigating State Covariance Properties During Finite Escape Time in H Filter SLAM

  • Hamzah AhmadEmail author
  • Nur Aqilah Othman
  • Mawardi Saari
  • Mohd Syakirin Ramli
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 538)


This paper deals with the investigation of finite escape time problem in H Filter based localization and mapping. Finite escape time in H Filter has restricted the technique to be applied as the mobile robot cannot determine its location effectively due to inconsistent information. Therefore, an analysis to improved the current H Filter is proposed to investigate the state covariance behavior during mobile robot estimation. Three main factors are being considered in this research namely the initial state covariance, the γ values and the type of noises. This paper also proposed a modified H Filter to reduce the finite escape time problem in the estimation. The analysis and simulation results determine that the modified H Filter has better performance compared to the normal H Filter as well as to Kalman Filter for different γ, initial state covariance and works well in non-gaussian noise environment.


H filter Finite escape time Estimation 



The authors would like to thank Ministry of Higher Education and Universiti Malaysia Pahang for supporting this research under RDU160145 and RDU160379.


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Hamzah Ahmad
    • 1
    Email author
  • Nur Aqilah Othman
    • 1
  • Mawardi Saari
    • 1
  • Mohd Syakirin Ramli
    • 1
  1. 1.Faculty of Electrical & Electronics EngineeringUniversity Malaysia PahangPekanMalaysia

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