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Particle filter for robot localization using WiFi measurements

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20 Aug 2008 (Updated )

Tracking a robot with particle filter by correcting odometric measurements with WiFi signal

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Description

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

Required Products MATLAB
MATLAB release MATLAB 7.5 (R2007b)
Other requirements A C compiler
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Comments and Ratings (9)
22 Jun 2014 Pengfei Wei  
26 Feb 2014 cyril

both links in the description are dead now

27 Sep 2012 Sebastien PARIS

Andrew,

It should work now ...

26 Sep 2012 Andrew Lesser

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

26 Sep 2012 Sebastien PARIS

Andrew,

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

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

25 Sep 2012 Andrew Lesser

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

22 Jul 2011 Praveen

good one

22 Jul 2011 Praveen

good one

22 Sep 2008 amit yes  
Updates
01 Mar 2009

- add mexme_pf_robot_WIFI.m
- add a better qsindex alforithm

10 Nov 2011

- Linux/GCC compatibility
- Refresh code and demos

26 Sep 2012

-Fix a bug introduced in the last update

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