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This MATLAB simulator demonstrates how a 2-wheeled mobile robot localizes itself through the fusion of information using Extended Kalman Filter. The information is provided by wheel encoders as well as distance and angular sensors.
hughhugh/ekf_simulator
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MATLAB Simulator for Mobile Robot Localization Using Extended Kalman Filter (EKF) ************************************************** AUTHOR: Ruslan Masinjila Contact: [email protected] ************************************************** Release Date: 05/24/2014 ************************************************** GENERAL NOTES: This MATLAB simulator demonstrates how a 2-wheeled mobile robot localizes itself through the fusion of information using Extended Kalman Filter. The information is provided by simulated wheel encoders as well as distance and angular sensors. Tested in MATLAB 7.12.0.635 (R2011a) and MATLAB 7.14.0.739 (R2012a) ************************************************** RUNNING THE SIMULATOR: Execute the RunMe.mat file ************************************************** Link to EKF Algorithm https://bytebucket.org/ruslanmasinjila/ekf_algorithm/raw/e1a39c8c014b47f67d030a4c43861f16ae95de02/ekf_algorithm.pdf?token=1723c05cc708b96d3e8ea2a3036a5ebaa9218c38 **************************************************
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This MATLAB simulator demonstrates how a 2-wheeled mobile robot localizes itself through the fusion of information using Extended Kalman Filter. The information is provided by wheel encoders as well as distance and angular sensors.
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