RMAproject - SLAM with Matlab and V-REP

---

Course: SSC5888 - Autonomous Mobile Robots
Professor: Fernando Osório

Table of contents

[TOC]

Features

• Odometry from real position/orientation of the robot in V-REP;
• As V-REP sensor readins don't provide noise, it is added in the Matlab code;
• Exploration and obstacle avoidance done with sonar sensors.

Roadmap

• Do odometry by simulate encoder signal in V-REP;
• Improve the performance of grid map printing;
• Do exploration and obstacle avoidance using Lidar.

How to use Map Viewer GUI

1. In Matlab file explorer go to rmaProject folder (You should clone or download this project);
2. Open the file slamViewerGUI.m;
3. In Matlab EDITOR tab click in RUN button. The application will start;
4. Open the file rmaProject.ttt in V-REP and start the simulation;
5. In Map Viewer GUI click on RUN SLAM button

Dependencies

• Statistics Toolbox

What do you need?

• V-REP PRO EDU V3.4.0 rev1

Older versions can broke some objects!

• Matlab 2016b

It is possible to use Matlab 2014b. You just need to change line 44 in file printSpdDistInfo.m to algstr = algorithm;

Releases