文件列表:

LaserScan_fitness.m (998, 2013-04-04)
LaserScan_gradiant.m (736, 2013-04-04)
LaserScan_load.m (1034, 2013-04-04)
LaserScan_plot.m (1140, 2013-04-04)
LaserScan_pso.m (3522, 2013-04-04)
LaserScan_search.m (2192, 2013-04-04)
Localize_pso.m (1260, 2013-04-04)
Localize_search.m (1686, 2013-04-04)
data (0, 2013-04-04)
data\laserscan-1.mat (6104, 2013-04-04)
data\laserscan-2.mat (6104, 2013-04-04)
data\laserscan-3.mat (6104, 2013-04-04)
data\laserscan-4.mat (6104, 2013-04-04)
data\laserscan-5.mat (6104, 2013-04-04)
data\laserscan-6.mat (6104, 2013-04-04)
data\laserscan-7.mat (6104, 2013-04-04)
data\laserscan-8.mat (6104, 2013-04-04)
data\laserscan-9.mat (6104, 2013-04-04)
data\map.pgm (233528, 2013-04-04)
data\map.yaml (130, 2013-04-04)
map_preprocess.m (1528, 2013-04-04)
pso.m (2564, 2013-04-04)

mat-pso-localization ==================== Mobile robot localization using Particle Swarm Optimization This is a simple localization algorithm for mobile robots that accepts a prebuilt map of the robot's enviornment stored as an occupancy grid and a laser scan and returns the best estimated location of the robot. A sample map and a few laser scan datasets are included in the repository. Run the Localize_Search to attempt an exhastive search for the best pose estimate and display a plot of the fitness function.

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