A particle-based FastSLAM algorithm in Python for pioneer 3dx mobile robot
This algorithm takes in a .2d format laser scan log and returns a 2d array grid map
Size of the map is bounded by the maximum and minimum scan coord in the scan hisotory. Thus, this is not an online slam algorithm.
- obtain a .2d file from the robot using sickLogger
- open
slam.py, modify parameters likefilename,num_particles,result_folder, etc. - run
python3 slam.py
slam.py: the main code for running the slam algorithm
particle_class.py: code for the particle class, including position update, map update, weight update
scan_match.py: scan-match algorithms, including icp and a customized algorithm called search_best_angle
utility.py: important utilities, including coord transfomation, map drawing, and ray tracing
jerodlab.2d: a sample .2d laser log of jerod's lab
baseline_map.png: a baseline map of jerod's lab constructed using only the laser log and without any slam correction
map_slam.png: a map of jerod's lab constructed using slam
map_naive.png: a map of jerod's lab constructed using slam but w/o scan-matching
progress_full: a folder containing the construction history of the slam map
Current code assume the angle increment is 1. Some code might need changes if angle increment is 0.5