islam_simulation

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}
}

About the project

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

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.

Filter

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.

Models

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.

Utilities

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].

Visualization

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.

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