Project

General

Profile

Revision 1149

Added some papers guiding the current approach, and commented some.

View differences:

sensor_map.m
1 1

  
2
%Function which creates a map of points seen by a robot
2
%Function which creates an occupancy grid map giving the probability of of there being an object
3
%given a series of measurements over the probability of there not being an object
4
%given the measurements.
3 5

  
4 6
%Input comes from 'filename' where each line contains 8 space-separated values
5 7
%Each line contains: x, y, theta, IR1, IR2, IR3, IR4, IR5 in that order
......
9 11
%IR values are the values seen by the robot, where -1 means that nothing is seen
10 12

  
11 13
%Output: graph of points seen by robot
12
%All output measurements are in centimeters
14
%All output measurements are in millimeters
13 15

  
14
%TODO
15
%find conversion factor between IR sensor values and centimeters (currently 1 is being used)
16
function arena = map(filename)
16
function arena = sensor_map(filename)
17 17

  
18 18
%Vectors from center of bot to IR sensors
19 19
Bot_IR1 = [4.5,3.5];

Also available in: Unified diff