MATLAB-based EKF SLAM Simulator

This package provides an Extended Kalman Filter (EKF)-based Simultaneous Localization and Mapping (SLAM) simulator written in MATLAB, specifically designed for robotic path planning simulation experiments. The simulator implements core EKF-SLAM algorithms that model robot motion dynamics and sensor measurements in various environments, generating realistic trajectory simulations and sensor data outputs. Through MATLAB's programming framework, the simulator features modular implementation of key functions including: state prediction using motion models, landmark observation updates, covariance matrix management, and data association algorithms. The package offers multiple customizable parameter configuration options, allowing users to adjust robot kinematics models, sensor characteristics (range and bearing noise), environment complexity, and EKF tuning parameters to meet specific experimental requirements. The object-oriented design enables flexible extension of robot models and sensor types while maintaining computational efficiency through optimized matrix operations inherent to MATLAB's numerical computing capabilities.