EKF-SLAM-Simulator
所属分类：matlab编程
开发工具：matlab
文件大小：728KB
下载次数：268
上传日期：2011-03-06 15:12:05
上 传 者：
duzj123
说明： 本程序包设计了一个利用Matlab编写的基于EKF的SLAM仿真器，可用于机器人的路径规划的仿真实验设计。
(This package designed a written Matlab, the SLAM EKF-based simulator can be used for robot path planning simulation design.)
文件列表:
EKF-SLAM Simulator_v1.02\12154.fig (2460125, 2008-04-17)
EKF-SLAM Simulator_v1.02\add_control_noise.m (277, 2004-03-25)
EKF-SLAM Simulator_v1.02\add_observation_noise.m (343, 2004-03-25)
EKF-SLAM Simulator_v1.02\augment.m (1101, 2004-03-25)
EKF-SLAM Simulator_v1.02\augment_associate_known.m (490, 2004-03-25)
EKF-SLAM Simulator_v1.02\compute_steering.m (1140, 2004-03-25)
EKF-SLAM Simulator_v1.02\configfile.m (2046, 2004-03-26)
EKF-SLAM Simulator_v1.02\data_associate.m (1557, 2004-03-25)
EKF-SLAM Simulator_v1.02\data_associate_known.m (879, 2004-03-25)
EKF-SLAM Simulator_v1.02\ekfslam_sim.m (6670, 2004-03-26)
EKF-SLAM Simulator_v1.02\example_webmap.mat (1072, 2004-03-26)
EKF-SLAM Simulator_v1.02\frontend.fig (54416, 2004-02-16)
EKF-SLAM Simulator_v1.02\frontend.m (5629, 2004-03-26)
EKF-SLAM Simulator_v1.02\get_observations.m (1378, 2004-03-25)
EKF-SLAM Simulator_v1.02\hs_err_pid3100.log (17515, 2011-03-06)
EKF-SLAM Simulator_v1.02\KF_cholesky_update.m (611, 2004-03-08)
EKF-SLAM Simulator_v1.02\KF_IEKF_update.m (1470, 2004-03-26)
EKF-SLAM Simulator_v1.02\KF_simple_update.m (632, 2004-02-13)
EKF-SLAM Simulator_v1.02\line_plot_conversion.m (827, 2004-02-13)
EKF-SLAM Simulator_v1.02\observe_heading.m (417, 2004-03-25)
EKF-SLAM Simulator_v1.02\observe_model.m (838, 2004-03-25)
EKF-SLAM Simulator_v1.02\pi_to_pi.m (239, 2004-02-13)
EKF-SLAM Simulator_v1.02\plot_feature_loci.m (586, 2004-03-26)
EKF-SLAM Simulator_v1.02\predict.m (852, 2004-03-16)
EKF-SLAM Simulator_v1.02\song.mat (216, 2008-04-17)
EKF-SLAM Simulator_v1.02\song2.mat (817, 2008-04-17)
EKF-SLAM Simulator_v1.02\TransformToGlobal.m (433, 2004-03-25)
EKF-SLAM Simulator_v1.02\update.m (1125, 2004-03-25)
EKF-SLAM Simulator_v1.02\update_iekf.m (1045, 2004-03-25)
EKF-SLAM Simulator_v1.02\vehicle_model.m (340, 2004-03-25)
EKF-SLAM Simulator_v1.02\结果1.fig (199977, 2008-04-17)
EKF-SLAM Simulator_v1.02 (0, 2011-03-06)
EKF-SLAM Simulator
------------------
This simulator demonstrates a simple implementation of
standard EKF-SLAM. It permits simple configuration via
'configfile.m' to perform SLAM with various control parameters,
noises, etc. Also various switches are available to choose
known data-association versus gating, etc.
The key file in this simulator is called 'ekfslam_sim.m'. Type
'help ekfslam_sim' for more information of how to use it.
In addition to on-line animations, the simulator returns a
data-structure of the logged state information for off-line
processing. An example use of this data is shown in m-file
'plot_feature_loci.m', which plots the trajectories of the
landmark estimates.
Tim Bailey and Juan Nieto
2004.
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