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Estimating Object Location using Particle Clustering on Rotating Sonar Detection

TELKOMNIKA Telecommunication, Computing, Electronics and Control Vol 12, No 2: June 2014
Publisher : Universitas Ahmad Dahlan

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Abstract

Particle filter been used for localization and position estimation with various applications. Several method applied in order to reduce the complexity of particle information to lower processing resource requirement while providing a precise map. Sonar sensor provide a range precision with poor bearing. Partial observation applied to gain estimation of object location using several measurement from multiple vantage point. This paper propose grouping of detection particle from sonar sensor using clustering method in order to provide estimated object position from a single vantage point. The approach estimate objects using euclidean distance treshold to separate one object detections from the other and group all the detection particle into cluster containing a set of number. As a result of particle clustering, object location can be estimated with their respective weight of certainty as an attribution for further decision making.

Co-Authors AB Susanto Achmad Widodo Adi Priyo Wicaksono, Adi Priyo Agung Chandra Prasetya Agung Nugroho Setiawan, Agung Nugroho Agus Indarjo Agus Sulistiyo Agus Suyanto Agus Syafrudin Agus Triyanto Ahmad Syaify, Ahmad Aini Moeljono, Aini AL. Supartinah, AL. Andika Bagus Setiawan, Andika Bagus Andri Wahyu Septo Putra Anifatur Nurjannah, Anifatur Arbiyanti, Yossi Norma Arfian, Finty Ari Anshori, Ari Ari Suwondo Arief Suseno, Arief Arif Syaifuddin Arifin Budi Putro, Arifin Budi Arinianzah, Aldo Rizqi Aris Wijayanti Arista, Desi Arlien Siswanti Arnefia Mei Yusnida Asfan Muqtadir, Asfan Astuti, Anjar Ave Gierdo Alfaseno, Ave Gierdo Baliyan I, Baliyan Bambang Nugraha, Bambang Basuki Basuki Bayu Surarso Budi Setiawan Chrisna A Suryono Chrisna Adhi Suryono Cicilia Artitin Cynthia Damayanti Dadang Sukandar Dayyana, Surya Desi Sandra Sari Desie Dwi Wisudanti, Desie Dwi Dewi Agustina Dewi Sulistyaningrum Dhidik Prastiyanto Diana Layla Dimas Putra Anugrah, Dimas Putra Djoko Adi Widodo Donny Prasetyo Santoso, Donny Prasetyo Drajat Martianto Dwi Puji Adiana, Dwi Puji Edi Wibowo Edi Wibowo Kushartono Edy Junaidi Eka Miftakhul Jannah, Eka Miftakhul Eko Supraptono Emi Agustina, Emi Endah Setiyaningrum Endang Sri Susilo ENNY SUSWATI Ervia Yudiati Evi Setiawati Fatekurohman, Mohamat fatimah Fatimah Febriana Tirta Kirana, Febriana Tirta Fitri Mahardika Sari Frida Fallo Gatot Murti Wibowo, Gatot Murti Gatot Yulianto Gentur Handoyo Gigih Budhiawan Gunawan Widi Santosa Hadi Endrawati Harindra W Pradhana, Harindra W Harindra Wisnu Pradhana Haryati Haryati Hayat Maulana Heri Sugito Heri Sutanto Hernita Kusuma Wardani Hery Sulistyo JNS, Hery Sulistyo Hery Widijanto Hidayat, Syarief Thaufik Hilmi Trian Setyawan Indhana Sudiharto, Indhana Indri Trifiantari Irianiwati Irianiwati Irwani Irwani Isa Nurnusanto, Isa Isnaini Isnaini Ivan Nurizal Sakti Izah, Luluk Lailatul Jatmiko Endro Suseno Jauhari Syamsiyah Joko Winarno Juniyanto, Dimas Kamasita, Systriana Esi Kartini Sinaga Kesawa Sudarsih Khanif Pramusinto, Khanif Kharis, Muhamad Kusworo Adi Kusworowulan, Suryati Kwartarini Murdiastuti, Kwartarini Laela Meitasari, Laela Laska, Yulinda Lukman Hakim Mahda Veronika Maisi, Sri Malau, Rotua Mardiyono Mardiyono Margo Utomo Marsetyawan HNES, Marsetyawan Mediawati, Saskia Mefi Priba Sari, Mefi Priba Melo, Gabriella Imanuella Melyana Nurul Widyawati Menur Wahyu Pangestika, Menur Wahyu Mohamad Nadhif, Mohamad Muh. Yusuf Muhammad Arif Prasetyo Muhammad Arsyad Suyuti Muhammad Izzuddin Shofar Muhammad Zainuri Mujiyo Mujiyo Mulyanto Mulyanto Munarso Munarso Muthoifin Muthoifin, Muthoifin N. Euis Sutaningsih, N. Euis Nailatul Ilmi Nasronudin Nasronudin Niharul Annas Nirwani Soenardjo Nourobby Aulada, Nourobby Oky Dwi Nurhayati Oky Yuripa Pradana P. H, Aditya Praptiwi Praptiwi Prasetyo Nugroho Raden Ario Radini Sinta, Radini Ragil Saputra Rahayu Sapta S Rahmat Gernowo Rakhmat Syaefullah Ramadhan, Hazbina Fauqi Rani Gamawati, Rani Ratna Dwi Meilani, Ratna Dwi Retno Handayani Retno Hartati Ria Amitasari Ria Azizah Rieneke L Sela, Rieneke L Rini Riyanti Robby Eko Christanto Rudhi Pri, Rudhi Rudhi Pribadi Rusdi, Muh Sangkertadi Sangkertadi Satryo Adi Wibowo, Satryo Adi Setyaningsih, Erni Sharfina Sharfina, Sharfina Siti Fatimah Muis Soeharyo Hadisaputro Sri Budi Barunawati, Sri Budi Sri Huning Anwariningsih Sri Kusumastuti, Sri Sri Sedjati Sri Sukamta Sudadi Sudadi Sudibyo Sudibyo Sugeng Purbawanto Sugiyanto Sugiyanto Sukarnen Sukarnen, Sukarnen Sulistyo Warjono, Sulistyo Sumarno Sumarno Sumaryo Sumaryo Suntoro Suntoro Supriyanto Supriyanto Supriyati Supriyati Suroyo Suroyo Suwarto Suwarto Tatyantoro Andrasto Tika Retnowati Tri Saputra, Tri Valentino, Nico Vifaldi Agti, Vifaldi Vincensius Gunawan Wahyu Fredi Santoso Wahyu Setia Budi Widyatmani Sih Dewi Wilis Ari Setyati Yosafat Hermawan Trinugraha, Yosafat Hermawan Yudha Nurdian, Yudha Yuli Hermansyah, Yuli Yuningtyastuti, Gita Surya