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Particle filter for robot localization using WiFi measuremen

version 1.4.0.0 (74.1 KB) by Sebastien PARIS
Tracking a robot with particle filter by correcting odometric measurements with WiFi signal

6.9K Downloads

Updated 29 Jan 2020

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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

Cite As

Sebastien PARIS (2021). 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. Retrieved .

MATLAB Release Compatibility
Created with R2016b
Compatible with any release
Platform Compatibility
Windows macOS Linux

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