Pull request for Monte Carlo localisation algorithm - #266
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Ridhwanluthra wants to merge 12 commits into
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added 11 commits
September 10, 2016 20:10
… executing code has been placed in monte_carlo_localisation.py, just run this with all the dependencies.
required for monte_carlo_localisation
…find the problem and fix that
norvig
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Mar 3, 2017
| maze = list(zip(*maze)) | ||
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| def eval(r, p): |
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Probably better not to shadow the builtin function eval
norvig
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Mar 3, 2017
| if x >= self.world_size - 1: | ||
| break | ||
| if maze[x][y] == 1: | ||
| y2 = y |
norvig
reviewed
Mar 3, 2017
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| prob = 1.0; | ||
| for i in range(len(self.sense_orient)): | ||
| if (self.sense_orient[i] > 0 and self.sense_orient[i] < pi/2): |
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I don't understand why you need to repeat code for each pi/2 quadrant?
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I have created 2 new files, monte_carlo_localisation.py and robot_class.py.
To run the algorithm just run the monte_carlo_localisation.py and assuming the the dependencies are installed, it will first show the initial condition and if you close that plot it will run the algorithm and then show the plot after running the algorithm for 20 timesteps.
I am not sure what kind of a structure would you like me to give.
Let me know and i will fix it.
also i have made a few assumptions from the algorithm, like the speed, motion model, etc and also added a way for measurement. the sensor model that i am using is 4 sensors in 4 directions of the bot.
if you would like me to add or subtract anything just let me know.
as far as the styling goes i am still working on it.
Thank you