2D Range only SLAM

Project of probabilistic robotics 2021/2022

Goal

Estimate initial guess for the map from measurements and reduce error of trajectory and map using least square algorithm

Results

After Initial Guess:

• landmark error: 3.081
• pose error: 2.469

After 25 iterations:

• Using only range measurements:

  • landmark error: 2.82
  • pose error: 2.56

• Using range and odometry measurements:

  • landmark error: 1.569
  • pose error: 1.6767

Using also the odometry measurements in the least squares algorithm greatly reduce the error, but introduce some artifacts in the upper-right region of the path.

Results using range and odometry measurements

Notice problems on top-right corner but good accuracy on trajectory

Results using only range

Running

Execute by running main.m