Robot localization and mapping problem with unknown noise characteristics

In this paper, we examine the H_∞ Filter-based SLAM especially about its convergence properties. In contrast to Kalman Filter approach that considers zero mean gaussian noise, H_∞ Filter is more robust and may provide sufficient solutions for SLAM in an environment with unknown statistical behavior. Due to this advantage, H_∞ Filter is proposed in this paper, to efficiently estimate the robot and landmarks location under worst case situations. H_∞ Filter requires the designer to appropriately choose the noise´s covariance with respect to γ to obtain a desired outcome. We show some of the conditions to be satisfy in order to achieve better estimation results than Kalman Filter. From the experimental results, H_∞ Filter performs better than Kalman Filter for a case of bigger robot initial uncertainties. Subsequently, this proved that _∞ Filter can provide another available estimation method for especially in SLAM.