Python pose-EKF implementation
Using a new virtual env to install the packages:
pip install -r requirements.txt
To run the simulator, just run the following command in your terminal :
python fast_slam.py
Using arrow keys to control the robot
The robot's velocity is a non-linear exponential function. The EKF takes in a number of inputs; an estimated x and y pose, velocity, yaw angle and the rate of change of yaw. All these measurements have noise included.
The EKF linearises the non-linear inputs and uses a standard Kalman Filtering algorithm. The estimated pose is drawn onto the screen as a purple circle and the error in the x and y coordinates are printed to the terminal.