www.gusucode.com > MATLAB编程毕业设计 EKF SLAM仿真全部源代码 > configFile.m

    %墙体挡板
wall=[
    0,-100;0,600;
    0,-100;600,-100;
    100,0;200,100;
    200,100;100,200;
    100,200;200,300;
    200,300;100,400;
    100,400;200,500;
    0,600;400,600;
    400,600;400,300;
    400,300;400,100;
    600,0;1000,0;
    600,-100;600,0;
    600,100;600,200;
    600,100;800,100;
    600,200;800,200;
    800,100;800,200;
    400,300;800,300;
    1000,0;1000,600;
    400,600;1000,600;
    800,400;800,500;
    600,400;800,400;
    600,500;600,400;
    600,500;800,500;
    ];

%车速
V = 52;
%舵机转角
G = 0;
%控制周期
dt = 0.15;
%车轴距
WB = 4;

%控制噪声，3cm/s，1°
sigmaV = 3;
sigmaG = 0.6/180*pi;
Q = [sigmaV^2   0;
     0          sigmaG^2;];

%观测噪声,3cm,1°
sigmaR = 3;
sigmaB = 1/180*pi;
R = [sigmaR^2   0;
     0          sigmaB^2;];

%机器人状态向量
x = zeros(3,1);
x(1) = 50;
x(2) = -50;
x(3) = pi/2;

xtrue = zeros(3,1);
xtrue(1) = 50;
xtrue(2) = -50;
xtrue(3) = pi/2;
 
%机器人状态协方差矩阵
P = zeros(3);
 
%小于这个数值，才有可能将观测值和库中Lm匹配成功的最大距离
GATE_REJECT = 25;

%大于这个距离，才能判断是新的Lm
GATE_AUGMENT = 50;