ukfslam
所属分类：数学计算
开发工具：matlab
文件大小：10KB
下载次数：135
上传日期：2009-02-13 00:13:37
上 传 者：
tissle
说明： 使用Unscented Kalman Filter进行SLAM，主要用于机器人定位和地图自动绘制，UKF的效果要优于EKF，当然计算量也大些。
(The Matlab code for SLAM using Unscented Kalman Filter, mainly used for robot localization and map building)
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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