Particle filter for robot localization using WiFi measuremen

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

Version 1.4.0.0 (74.1 KB)
7K Downloads
(5)
29 Jan 2020

You are now following this Submission

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 (2026). Particle filter for robot localization using WiFi measuremen (https://se.mathworks.com/matlabcentral/fileexchange/21149-particle-filter-for-robot-localization-using-wifi-measuremen), MATLAB Central File Exchange. Retrieved .

Categories

Find more on Vision HDL Toolbox in Help Center and MATLAB Answers

General Information

MATLAB Release Compatibility

  • Compatible with any release

Platform Compatibility

  • Windows
  • macOS
  • Linux
Open in new tab
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