ukfslam
所属分类:matlab编程
开发工具:matlab
文件大小:10KB
下载次数:197
上传日期:2007-01-30 11:01:09
上 传 者:
超级兵
说明: 采用UKF滤波器的SLAM算法matlab实现,研究机器人的可以作为参考。
(used UKF SLAM filter algorithm Matlab realized, the robot can study as a reference.)
文件列表:
add_control_noise.m (277, 2004-03-25)
add_observation_noise.m (343, 2004-03-25)
augment.m (444, 2006-02-10)
compute_steering.m (1140, 2004-03-25)
configfile.m (1588, 2006-02-11)
data_associate_known.m (879, 2004-03-25)
example_smallmap.mat (720, 2006-02-11)
example_webmap.mat (1072, 2004-03-26)
get_observations.m (1378, 2004-03-25)
observe_heading.m (415, 2006-02-10)
observe_model.m (288, 2006-02-10)
predict.m (393, 2006-02-10)
sqrtm_2by2.m (811, 2004-05-12)
ukfslam_sim.m (6224, 2006-02-16)
update.m (241, 2006-02-10)
vehicle_model.m (187, 2006-02-10)
UKF-SLAM
--------
This set of Matlab functions performs a simulation of simultaneous
localisation and mapping (SLAM) using the unscented Kalman filter
(UKF). It is an adaptation of the EKF-SLAM simulator also
available online.
To use this simulator, you need to first download my "Matlab
Utilities" package and add it to your Matlab path. These utilities
perform all kinds of filtering operations, and are fast, being
completely vectored for speed. They are available from:
http://www.acfr.usyd.edu.au/homepages/academic/tbailey/software/software.html
To run the simulator, first load a map, then run the simulator.
Eg,
load example_webmap
data = ukfslam_sim(lm, wp);
The returned "data" structure contained recorded values for
subsequent off-line processing, if desired.
To configure the simulator, edit the file "configfile.m". This
file contains process and observation noise settings and various
other settings.
Tim Bailey 2006.
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