基于卡尔曼滤波的机器人slam导航算法 matlab demo

基于卡尔曼滤波的机器人slam导航算法 matlab demo，有简洁的gui界面。方便开发和修改。。

function [World rob] = configuration（rob sen_rf Lmks Wpts AxisDim）
global RunTime;

    % If you want to make any changes to the default robot/sensor settings
    % then do that here - the changes will be passed back into the main
    % SLAM function.
    
    % Set robot at first waypoint
    rob.R（1:2） = Wpts（:1）;
    % Orient robot towards second waypoint
    rob.R（3） = bearingToPoint（rob.R Wpts（: 2）） + rob.R（3）;
    % Initial pose estimate is perfect
    rob.r = rob.R;
    
    % These values are set by an engineer to match the system:
    World.Q = diag（rob.q .^ 2）;     % System uncertainty
    World.M = diag（sen_rf.noise .^ 2）; % Measurement uncertainty
    
    World.tend = RunTime;

    % Initialise landmarks and waypoints
    World.W = Lmks;
    World.Wpts = Wpts;
    
    % Initialise measurement vector
    World.y = zeros（2size（World.W2））;

    % Initialise state and covariance vectors
    World.x = zeros（numel（rob.r）+numel（World.W） 1）;    % State estimate
    World.P = zeros（numel（World.x）numel（World.x））;     % Covariance matrix
    World.mapspace = 1:numel（World.x）;                  % State map availability
    World.l = zeros（2 size（World.W2））;                % Landmark positions

    % Find anad reserve mapspace for robot pose
    World.r = find（World.mapspacenumel（rob.r））;
    World.mapspace（World.r） = 0;
    World.x（World.r） = rob.R;     % Set initial pose estimate equal to truth
    World.P（World.r World.r） = 0;  % Set initial pose covariance equal to 0
    
    % Initialise historical vectors
    World.R_hist = zeros（2 World.tend）;
    World.r_hist = zeros（2 World.tend）;
    World.Pr_hist = zeros（2 World.tend）;
    World.error_hist = zeros（1 World.tend）;
    World.scan_error_hist = zeros（2 World.tend）;
    World.odo_error_hist = zeros（2 World.tend）;
    World.turning_hist = zeros（1 World.tend）;
    World.weight_scan_hist = zeros（1 World.tend）;
    World.weight_odo_hist = zeros（1 World.tend）;

    %%%%%%%%%%%%%%%%%%%%%%%%% MAPPING SETTINGS %%%%%%%%%%%%%%%%%%%%%%%%%%%%
    % Map resolution （grid size）
    World.map_res = 0.5;
    % Scan correlation tolerance. This defines the minimum number of
    % correlations required for a scan match to be accepted
    World.scan_corr_tolerance = 20;
    % Descretised grid map values
    World.map_vals = -AxisDim+World.map_res:World.map_res:AxisDim-World.map_res;
    World.gridmap = zeros（AxisDim * 2 / World.map_res - 1）;
    World.gridmap_counter = ones（size（World.gridmap）） * round（255/2）;
    World.scan_data = [];
    World.scan_global = [];
    World.scan_true = [];
end

 属性            大小     日期    时间   名称
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     文件          9  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\.gitignore

     文件       2058  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\3rd-party\cov2elli.m

     文件      10205  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\3rd-party\ginputax.m

     文件       2660  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\configuration.m

     文件      15142  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\ekfSLAM.m

     文件       7190  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\gridmap.tiff

     文件      14892  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\mapMakerGUI.fig

     文件      23781  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\mapMakerGUI.m

     文件       5540  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\Obstacle.m

     文件       1674  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\README.md

     文件       6631  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\Robot.m

     文件        996  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\sample-maps\map_bedroom.mat

     文件        674  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\sample-maps\map_corridor.mat

     文件       1731  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\sample-maps\map_largefloor.mat

     文件       1016  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\sample-maps\map_movement.mat

     文件       1153  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\sample-maps\map_windycorridor.mat

     文件       1770  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\Sensor.m

     文件        710  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\setup.m

     文件        714  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\tests\arbitrary.mat

     文件        904  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\tests\circular.mat

     文件        646  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\tests\corner.mat

     文件        674  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\tests\corridor.mat

     文件       1590  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\tests\getSaliency.asv

     文件       1598  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\tests\getSaliency.m

     文件       1724  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\tests\medFilterScan.m

     文件       1049  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\tests\medFilterScan.mat

     文件        711  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\tests\obstacles.mat

     文件       8171  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\tests\scanTest.fig

     文件       2486  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\tests\testICP.m

     文件         97  2013-12-16 07:25  卡尔曼滤波\ekf-slam-matlab-master\tools\bearingToPoint.m

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