Repository for solving a toy 2D EKF SLAM problem in Python with fixed landmarks and known data associations. Done as part of CMU 16833.
The map assumes 6 landmarks. State consists of a 15x1 vector - 6x2(lx,ly for 6 landmarks) + 3(for robot pose x,y, theta)
data logs are in data/data.txt. The measurement data comes in as a bearing and range reading . The control data comes in as translation and angle measured from the last reading.
Control data example-
3.0000 0.0000
Robot first translates and then turns in place
Range and bearing data example-
1.1072 6.7060 1.3257 12.3812 0.8520 10.6270 1.1071 15.6513 0.4995 12.5422 0.8289 16.2816
are range and bearing values for 6 landmarks. The associations are assumed to be correct everytime.
Robot moves in a pentagonal trajectory and the 6 landmarks are in the middle.
