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open-access-imgOpen AccessA study of a discrete Bayes and a Kalman filter computational Complexity and performance in the case of 1D robot localization
Author(s)
Indrazno Siradjuddin,
I M Fitriani,
R A Asmara,
M. Junus,
Tundung Subali Patma,
G A Azhar,
H. Setiawan
Publication year2019
Publication title
journal of physics
Resource typeJournals
PublisherIOP Publishing
In the robotic field of study, localization is one of the important methods for autonomous mobile robot navigation. Probabilistic approaches have received significant attention in the robotics community. The discrete Bayes and Kalman filters are the fundamental algorithms in probabilistic approach which have to be clearly understood in order to develop more advanced filtering algorithms. This paper discusses discrete Bayes and Kalman filtering algorithms. The mathematical representation of each filter algorithm, in the 1-dimensional case, presented in detail. The algorithms were implemented using python to simulate the probability of the robot position. The algorithm’s complexity was analysed with respect to the computational cost and size of memory used. From this study, it has been observed that the Kalman filter is computationally more efficient, and less memory is required.
Subject(s)algorithm , artificial intelligence , bayes' theorem , bayesian hierarchical modeling , bayesian probability , bayesian programming , computational complexity theory , computer science , extended kalman filter , fast kalman filter , invariant extended kalman filter , kalman filter , mobile robot , operating system , probabilistic logic , python (programming language) , recursive bayesian estimation , robot , robotics
Language(s)English
SCImago Journal Rank0.21
H-Index85
eISSN1742-6596
pISSN1742-6588
DOI10.1088/1742-6596/1402/4/044026

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