Introduction
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We are researching robot localization techniques which fuse dead reckoning measurements with range measurements from stationary radio beacons in the robot's environment. This site provides Matlab code for three algorithms explored thus far -- an Extended Kalman Filter, a Particle Filter, and a Sliding Batch method -- as well as .mat files containing data collected from a robot driving and receiving range measurements over different paths. Two such data sets are provided. This project and the algorithms implemented are discussed in much greater detail in this document. You can download code for a specific algorithm by clicking on its tab above, or you can download all the code at once here. (~32Mb) |