Sonar-based particle filter information, can make use of sonar information and incomplete environmental information through the completion of the algorithm of robot self-localization process. The Example is based on the original improvements.

orientation
...........\angle_ok.asv
...........\angle_ok.m
...........\Distance_pointTopoint.m

...........\error.mat
...........\error1.mat
...........\forsee_RobotPosition.m
...........\hs_err_pid1496.log
...........\hs_err_pid3024.log
...........\init_oneparticle.asv
...........\init_oneparticle.m
...........\Init_particles.asv
...........\Init_particles.m
...........\Init_RobotSonar.asv
...........\Init_RobotSonar.m
...........\Init_RobottestSonar.m
...........\lastTh.mat
...........\lastx.mat
...........\lasty.mat
...........\main.asv
...........\main.m
...........\num.mat
...........\Orientat.asv
...........\Orientat.m
...........\Orientat_IsEnd.asv
...........\Orientat_IsEnd.m
...........\p.mat
...........\plot_Robot_Particle.asv
...........\plot_Robot_Particle.m

...........\ReSample_paricles.asv
...........\ReSample_paricles.m
...........\Robot.mat
...........\RobotgetRange.asv
...........\RobotgetRange.m
...........\Robottest.mat
...........\test.asv
...........\test.m
...........\untitled.fig
...........\updata_particles.asv
...........\updata_particles.m
...........\updata_particleValue.asv
...........\updata_particleValue.m

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