SLAM Project

Project on Simultaneous Localization and Mapping (SLAM) which implements Extended Kalman Filter (EKF) SLAM and FastSLAM (Particle based). This is based on the SLAM course by Claus Brenner which uses a LEGO robot in a 2000mm X 2000mm arena with 6 landmarks which serve as map features. The robot is equipped with a LIDAR sensor to generate scan data.

Requirements

1. Python 3
2. Tkinter
3. Numpy

Instructions

Run the files for EKF SLAM and FastSLAM in Python. EKF SLAM:

$ python EKF_SLAM.py

FastSLAM:

$ python FastSLAM.py

These generate the output files ekf_slam_output.txt and fast_slam_output.txt which can be viewed in the logfile viewer

$ python logfile_viewer.py