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.
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
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 .
It works pretty well. But some one knows how to change the floor plan?
both links in the description are dead now
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.
Thank you for report, I'll check asap...
If you can copy/paste the crash log ...
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?
Fixed bug and for modern Matlab & OS64
-Fix a bug introduced in the last update
- Linux/GCC compatibility
- add mexme_pf_robot_WIFI.m
-Fix a small bugg when verbose>1