Difference between revisions of "Monte carlo locatization with robot Mikes - Tomas Kubla"
From RoboWiki
(New page: == Task == We had to implement MCL-Algorithm (Sebastian THRUN, Wolfram BURGARD, Dieter FOX: PROBABILISTIC ROBOTICS, 1999-2000, page 200) == Creating tag model == We were putting robot to...) |
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== Video documentation == | == Video documentation == | ||
| − | <youtube> | + | <youtube>zfyK7YjYMSE</youtube> |
== Concluson == | == Concluson == | ||
== Next steps == | == Next steps == | ||
Revision as of 05:39, 20 February 2017
Contents
Task
We had to implement MCL-Algorithm (Sebastian THRUN, Wolfram BURGARD, Dieter FOX: PROBABILISTIC ROBOTICS, 1999-2000, page 200)
Creating tag model
We were putting robot to many positions in arena and we were logging:
- X position
- Y position
- azimuth
- list of seen tags
Algorith
int init_mcl(){
...
for(int i = 0; i< HYPO_COUNT; i++){
hypo[0][i].x = hypo[1][i].x = rand() % 280;
hypo[0][i].y = hypo[1][i].y = rand() % 280;
hypo[0][i].alpha = hypo[1][i].alpha = rand() % 360;
hypo[0][i].w = hypo[1][i].w = 0.3;
...
}
...
}
Source Code
Source code is located on [1]
Some of support scripts and data are here: data.zip
Video documentation
