mySLAMekfandfast
所属分类：数值算法/人工智能
开发工具：matlab
文件大小：264KB
下载次数：103
上传日期：2012-09-17 17:57:38
上 传 者：
tigerhot
说明： SLAM已在机器人及无人机中得到应用，本程序利用EKF、粒子滤波实现SLAM，供学习使用。
(SLAM has been applied in robots and unmanned aerial vehicles, this program contains EKF and particle filtering for SLAM.)
文件列表:
mySLAMekfandfast (0, 2009-01-23)
mySLAMekfandfast\ekfslam_v1.0 (0, 2009-01-23)
mySLAMekfandfast\ekfslam_v1.0\add_control_noise.m (277, 2004-03-25)
mySLAMekfandfast\ekfslam_v1.0\add_observation_noise.m (343, 2004-03-25)
mySLAMekfandfast\ekfslam_v1.0\augment.m (1101, 2004-03-25)
mySLAMekfandfast\ekfslam_v1.0\augment_associate_known.m (490, 2004-03-25)
mySLAMekfandfast\ekfslam_v1.0\compute_steering.m (1140, 2004-03-25)
mySLAMekfandfast\ekfslam_v1.0\configfile.m (2046, 2004-03-26)
mySLAMekfandfast\ekfslam_v1.0\data_associate.m (1557, 2004-03-25)
mySLAMekfandfast\ekfslam_v1.0\data_associate_known.m (879, 2004-03-25)
mySLAMekfandfast\ekfslam_v1.0\ekfslam_sim.m (6670, 2004-03-26)
mySLAMekfandfast\ekfslam_v1.0\ekfslam_v1.0.zip (22306, 2007-07-20)
mySLAMekfandfast\ekfslam_v1.0\example_webmap.mat (1072, 2004-03-26)
mySLAMekfandfast\ekfslam_v1.0\frontend.fig (54416, 2004-02-16)
mySLAMekfandfast\ekfslam_v1.0\frontend.m (5629, 2004-03-26)
mySLAMekfandfast\ekfslam_v1.0\get_observations.m (1378, 2004-03-25)
mySLAMekfandfast\ekfslam_v1.0\KF_cholesky_update.m (611, 2004-03-08)
mySLAMekfandfast\ekfslam_v1.0\KF_IEKF_update.m (1470, 2004-03-26)
mySLAMekfandfast\ekfslam_v1.0\KF_simple_update.m (632, 2004-02-13)
mySLAMekfandfast\ekfslam_v1.0\line_plot_conversion.m (827, 2004-02-13)
mySLAMekfandfast\ekfslam_v1.0\observe_heading.m (417, 2004-03-25)
mySLAMekfandfast\ekfslam_v1.0\observe_model.m (838, 2004-03-25)
mySLAMekfandfast\ekfslam_v1.0\pi_to_pi.m (239, 2004-02-13)
mySLAMekfandfast\ekfslam_v1.0\plot_feature_loci.m (586, 2004-03-26)
mySLAMekfandfast\ekfslam_v1.0\predict.m (852, 2004-03-16)
mySLAMekfandfast\ekfslam_v1.0\TransformToGlobal.m (433, 2004-03-25)
mySLAMekfandfast\ekfslam_v1.0\update.m (1125, 2004-03-25)
mySLAMekfandfast\ekfslam_v1.0\update_iekf.m (1045, 2004-03-25)
mySLAMekfandfast\ekfslam_v1.0\vehicle_model.m (340, 2004-03-25)
mySLAMekfandfast\ekfslam_v2.0 (0, 2009-01-23)
mySLAMekfandfast\ekfslam_v2.0\add_control_noise.asv (280, 2008-06-29)
mySLAMekfandfast\ekfslam_v2.0\add_control_noise.m (275, 2008-06-29)
mySLAMekfandfast\ekfslam_v2.0\add_observation_noise.asv (345, 2008-06-29)
mySLAMekfandfast\ekfslam_v2.0\add_observation_noise.m (339, 2008-06-29)
mySLAMekfandfast\ekfslam_v2.0\augment.m (1076, 2004-05-12)
mySLAMekfandfast\ekfslam_v2.0\augment_associate_known.m (524, 2005-08-16)
mySLAMekfandfast\ekfslam_v2.0\compute_steering.m (1140, 2004-03-25)
mySLAMekfandfast\ekfslam_v2.0\configfile.m (2241, 2008-06-29)
mySLAMekfandfast\ekfslam_v2.0\data_associate.m (1788, 2004-05-12)
... ...
FastSLAM Simulator (version 1.0)
------------------
This simulator demonstrates simple implementations of FastSLAM versions 1.0 and 2.0.
It permits simple configuration via 'configfile.m' to perform SLAM with various
control parameters, noises, etc. The simulator assumes known data association.
The key files in this simulator are called 'fastslam1_sim.m' and 'fastslam2_sim.m'
for FastSLAM 1.0 and 2.0, respectively. These files are in the two subdirectories
in this collection.
The runtime of this simulator is very slow due, in part, to the graphics of the
simulator animations, and also to the use of 'for'-loops. Loops in Matlab are very
inefficient, but it is difficult to avoid them for this task without making the
code very obscure. Hopefully, however, the basic algorithms are clear enough to
assist development in a more suitable language.
Tim Bailey and Juan Nieto
2004.
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