ruslanma-ekf
所属分类:matlab编程
开发工具:matlab
文件大小:9KB
下载次数:19
上传日期:2014-09-24 09:21:45
上 传 者:
浅笑zxw
说明: ekf_algorithm
for Mobile Robot Localization
文件列表:
ruslanmasinjila-ekf_simulator-99b148e (0, 2014-05-31)
ruslanmasinjila-ekf_simulator-99b148e\RunMe.m (245, 2014-05-31)
ruslanmasinjila-ekf_simulator-99b148e\ekfPerformance.m (2814, 2014-05-31)
ruslanmasinjila-ekf_simulator-99b148e\ekfSimulation.m (5796, 2014-05-31)
ruslanmasinjila-ekf_simulator-99b148e\estimateOdometryPose.m (1115, 2014-05-31)
ruslanmasinjila-ekf_simulator-99b148e\estimateRelativePose.m (1226, 2014-05-31)
ruslanmasinjila-ekf_simulator-99b148e\evaluateMeasurementJacobians.m (764, 2014-05-31)
ruslanmasinjila-ekf_simulator-99b148e\evaluatePredictionJacobians.m (1069, 2014-05-31)
ruslanmasinjila-ekf_simulator-99b148e\evaluateRelativePoseDifference.m (738, 2014-05-31)
ruslanmasinjila-ekf_simulator-99b148e\getOdometryCovariance.m (700, 2014-05-31)
ruslanmasinjila-ekf_simulator-99b148e\getSensorCovariance.m (566, 2014-05-31)
ruslanmasinjila-ekf_simulator-99b148e\normalizeAngle.m (526, 2014-05-31)
MATLAB Simulator for Mobile Robot Localization
Using Extended Kalman Filter (EKF)
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AUTHOR: Ruslan Masinjila
Contact: ruslanmasinjila@gmail.com
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Release Date: 05/24/2014
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GENERAL NOTES:
This MATLAB simulator demonstrates how a 2-wheeled mobile robot
localizes itself through the fusion of information using Extended
Kalman Filter. The information is provided by simulated wheel encoders as
well as distance and angular sensors.
Tested in MATLAB 7.12.0.635 (R2011a) and MATLAB 7.14.0.739 (R2012a)
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RUNNING THE SIMULATOR:
Execute the RunMe.mat file
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Link to EKF Algorithm
https://bytebucket.org/ruslanmasinjila/ekf_algorithm/raw/e1a39c8c014b47f67d030a4c43861f16ae95de02/ekf_algorithm.pdf?token=1723c05cc708b96d3e8ea2a3036a5ebaa9218c38
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