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
4.2
(5)
7K Downloads
Updated 29 Jan 2020

View License

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 (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. Retrieved .

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

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Version Published Release Notes
1.4.0.0

Fixed bug and for modern Matlab & OS64
1.3.0.0

-Fix a bug introduced in the last update
1.2.0.0

- Linux/GCC compatibility
- Refresh code and demos
1.1.0.0

- add mexme_pf_robot_WIFI.m
- add a better qsindex alforithm
1.0.0.0

-Fix a small bugg when verbose>1