文件列表:

ProjectReport.pdf (157123, 2009-12-20)
FastSLAM\add_control_noise.m (330, 2009-12-20)
FastSLAM\add_feature.m (489, 2009-12-20)
FastSLAM\add_observation_noise.m (301, 2009-12-20)
FastSLAM\compute_jacobians.m (677, 2009-12-20)
FastSLAM\compute_steering.m (995, 2009-12-20)
FastSLAM\compute_weight.m (307, 2009-12-20)
FastSLAM\configfile.m (1472, 2009-12-20)
FastSLAM\data_associate_known.m (431, 2009-12-20)
FastSLAM\fastslam.m (4953, 2009-12-20)
FastSLAM\fast_to_ekf_diag.m (900, 2009-12-20)
FastSLAM\feature_update.m (610, 2009-12-20)
FastSLAM\get_observations.m (792, 2009-12-20)
FastSLAM\KF_cholesky_update.m (365, 2009-12-20)
FastSLAM\KF_joseph_update.m (499, 2009-12-20)
FastSLAM\line_plot_conversion.m (283, 2009-12-20)
FastSLAM\multivariate_gauss.m (206, 2009-12-20)
FastSLAM\pi_to_pi.m (360, 2009-12-20)
FastSLAM\predict.m (358, 2009-12-20)
FastSLAM\predict_true.m (158, 2009-12-20)
FastSLAM\resample_particles.m (376, 2009-12-20)
FastSLAM\routine1.mat (508, 2009-12-20)
FastSLAM\routine2.mat (606, 2009-12-20)
FastSLAM\routine3.mat (708, 2009-12-20)
FastSLAM\sqrtm_2by2.m (272, 2009-12-20)
FastSLAM\stratified_random.m (272, 2009-12-20)
FastSLAM\stratified_resample.m (355, 2009-12-20)
FastSLAM\TransformToGlobal.m (385, 2009-12-20)
FastSLAM (0, 2009-12-20)

FastSLAM (one of the most widely used methods for Rao-Blackwellized Particle filter SLAM.) INSTRUCTION To run the simulator, first load a map, then run the simulator. For example: load routine1 data = fastslam(lm, wp) Here we given three sets of data which are gotten from a FastSLAM environment-making GUI. It can permit the graphical creation and manipulation of an environment of point landmarks, and the specification of vehicle path waypoints therein. To configure the simulator, edit the file "configfile.m". This file contains process and observation noise settings and various other settings. To do this project we haved refered to so many references and documents, included the codes and the PhD Thesis of Tim Bailey from University of Sydney to whom we should sinerely acknowledge. Peng Qi Yueming Zhao 2009-12-20 KTH Sweden

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