# 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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islm_simulation.zip (25个子文件)
islm_simulation
islam_simulation-master
run.m 2KB
Utilities
correspond.m 1KB
piTopi.m 384B
compound.m 649B
dataStore.m 476B
README.md 2KB
Data
idList.mat 240B
iekfdata.mat 4.06MB
ekfdata.mat 4.17MB
rollerCoaster.mat 2KB
xTrue.mat 60KB
Visualization
makeFcov.m 595B
getSigmaEllipse.m 499B
makeLines.m 1KB
vis.m 3KB
getLandmark.m 1KB
Filter
iterate.m 1KB
augmentState.m 944B
main.m 1KB
updateIEKF.m 1KB
predictEKF.m 1KB
updateEKF.m 1KB
Models
conNoise.m 363B
vehicleModel.m 2KB
obsModel.m 749B
共 25 条
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