Particle filter for robot localization using WiFi measuremen
Demo illustrating localization of a robot by particle filter.
WiFi measurements are modeled by a Ray-Tracing engine allowing up to 3 walls'reflexion. Particle
filter help to correct odometry'mesurements of the non-holonomoc robot trajectory.
References :
i) Jacques Beneat, http://www2.norwich.edu/jbeneat/ (Ray-tracing indoor propagation model)
ii) http://users.isr.ist.utl.pt/~vale/english/projects/pfilter/pfilter1.html for
particle filter and non-holonomic trajectory
Run mexme_pf_robot_WIFI.m to compile mex-files on your plateform (be sure to setup previously your compiler by "mex -setup")
Run test_robot_WIFI.m or test_map_wifi.m for demos
引用格式
Sebastien PARIS (2024). Particle filter for robot localization using WiFi measuremen (https://www.mathworks.com/matlabcentral/fileexchange/21149-particle-filter-for-robot-localization-using-wifi-measuremen), MATLAB Central File Exchange. 检索来源 .
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- FPGA, ASIC, and SoC Development > Vision HDL Toolbox >
- Image Processing and Computer Vision > Vision HDL Toolbox >
- Engineering > Electrical and Computer Engineering > Robotics >
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