Title:
mat-pso-localization-master1
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Description: mat-pso-localization
=== === === ==
Mobile robot localization using Particle Swarm Optimization
This is a simple localization algorithm for mobile robots that accepts a
prebuilt map of the robot s enviornment stored as an occupancy grid and a
laser scan and returns the best estimated location of the robot.
A sample map and a few laser scan datasets are included in the repository.
Run the Localize_Search to attempt an exhastive search for the best pose
estimate and display a plot of the fitness function.
To Search:
File list (Check if you may need any files):
mat-pso-localization-master
...........................\.gitignore
...........................\LaserScan_fitness.m
...........................\LaserScan_gradiant.m
...........................\LaserScan_load.m
...........................\LaserScan_plot.m
...........................\LaserScan_pso.m
...........................\LaserScan_search.m
...........................\Localize_pso.m
...........................\Localize_search.m
...........................\README.md
...........................\data
...........................\....\laserscan-1.mat
...........................\....\laserscan-2.mat
...........................\....\laserscan-3.mat
...........................\....\laserscan-4.mat
...........................\....\laserscan-5.mat
...........................\....\laserscan-6.mat
...........................\....\laserscan-7.mat
...........................\....\laserscan-8.mat
...........................\....\laserscan-9.mat
...........................\....\map.pgm
...........................\....\map.yaml
...........................\map_preprocess.m
...........................\pso.m
