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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 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 (2020). 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 .

Comments and Ratings (11)

dd dd

Hao Chen

It works pretty well. But some one knows how to change the floor plan?

Pengfei Wei

cyril

both links in the description are dead now

Andrew,

It should work now ...

Furthermore to my last comment, it seems that when I run 32 bit Matlab it will crash after a few iterations.

Andrew,

Thank you for report, I'll check asap...

If you can copy/paste the crash log ...

Hi,

I'm having trouble with matlab crashing when running the test file. I am using Matlab 2012a, VS10, Win7 x64. I think it might have to do with the mex code not being compatible with -useLargeArrayDim. However, I can get the ray tracing test file to run and give results. Have you had similar issues or advice?

Thanks

PChoppala

good one

PChoppala

good one

amit yes

Updates

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

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