The codes of the paper The Mobile Robot SLAM Simulation with Multi Measurement Update.
If the paper is useful for you, please cite it.
@article{许亚芳2015基于多次测量更新的移动机器人SLAM仿真,
title = {基于多次测量更新的移动机器人SLAM仿真},
author = {许亚芳 and 孙作雷 and 曾连荪 and 张波},
journal = {系统仿真学报},
year = {2015}
}
Run the script "run.m", and you can see the demo of EKF-SLAM or IEKF-SLAM by setting the switches. Also, you can change the configurations and other switches in "run.m" to get different results.
Note:
Before run the script "run.m", you should set the path by hand. In the Matlab menu, just click Home->Set path->Add folder, and select the path of the file "IEKF and EKF Feature-based SLAM".
The following files mean :
Data about the robot surroundings and experiments.
- rollerCoaster.mat : waypoints and landmarks.
- xTrue.mat : ground truth.
- idList.mat : corresponding list.
- ekfdata.mat : experimental data of EKF-SLAM.
- iekfdata.mat : experimental data of IEKF-SLAM.
It contains the filter codes for SLAM execution.
- main.m : main loop of feature-based SLAM.
- predictEKF.m : predict step of EKF and IEKF SLAM.
- updateEKF.m : update step of EKF-SLAM.
- updateIEKF.m and iterate.m : update step of IEKF-SLAM.
- augmentState.m : augment step, that is add new features to the map.
It contains all the models of filter.
- conNoise.m : add random noise to control vector.
- vehicleModel.m : generate ground truth and include motion model.
- obsModel.m : observation model.
Tools for SLAM Demo.
- compound.m : complete the estimating uncertain spatial relationships in robotics.
- corresponding.m : classify features with known corresponding.
- dataStore.m : store online data.
- piTopi.m : make sure the angle is in [-pi, pi].
Functions for animation.
- vis.m : the main function for animation.
- getLandmark.m : get the landmarks within robot's laser range.
- getSigmaEllipse.m : for drawing the sigma ellipse which represents the uncertainty.
- makeFcov.m : make features' covariance ecllipse.
- makeLines.m : make sets of line segments for laser range-bearing measurements.