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Advanced Robotics
创建日期：2024-07-31 17:07:28
标签： Robotics
Advanced Robotics

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Advanced Robotics


Assignment 1 - Part 2: Particle Filter Localisation

Introduction

Almost all of the probabilistic Localisation algorithms are based on the Bayes filter. In

Tutorial 1-1 we solved the localisation problem in a 1-dimensional (discrete) environment

using the discrete Bayes filter. In reality we need to localise our robot in a 2D or 3D

continuous space. Unfortunately in these cases we are not able to implement the exact

Bayes filter (e.g., due to the non-linearity of our measurement functions). Therefore we have

to approximate the Bayes filter.

Table 1: Properties of localisation algorithms

State Space Belief Final Solution

Histogram Filter discrete multi-modal approximate

Extended Kalman Filter continuous uni-modal approximate

Particle Filter discrete? multi-modal approximate

In Table 1 we have listed a number of popular localisation algorithms. For example in

Histogram filter we discretize the space; i.e., we approximate the continuous space by a set

of discrete “cells” (similar to what you did in Tutorial 1-1). In Extended Kalman filter

(EKF) we linearise the non-linear models; i.e., we approximate the non-linear models with

linear models.

In Particle filter localisation (also known as Monte Carlo Localization, or MCL) we use

random samples (also called particles) to represent our belief about the robot pose (i.e.,

position and orientation). Each particle is a potential robot pose (a guess); e.g., in 2D

environments, each particle has three fields: x, y (position) and θ (orientation).

In this assignment you implement 2D MCL, the most successful localization algorithm!

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关键词一 关键词二 关键词三 关键词四 关键词五 和法规和的发更好的风格和 ECON 615 FINC 612 CSC148 COMP 639 ACCT 203 ACCT 211 PSYC 101 MTH2009 COMP52315 PSYCO 432 statistics MATH4063 11 xxx 1 MA1MSP MAST30028 MATH3888 CS341 EEE30002 ES2F5 MCD4160 CC0933 ECON 1101 MCHM3001 CHEM3118 COMMGMT 2511 COMP41280 STAT 631 24T1 IRE379 SENG365 ECON433 FIT3139 MATH4602 LING5621M FINS5516 ECON3208 MN2177 L2 SM EEET1415 Finance DS4023 COMP3004 7CCSMRTS K1S5B6 Stat230 CSCI4211 CSI2132 ECON30130 MAS6100 ENVS222 COM2107 INFO1112 STAT 4004 FIT2100 comp2022 COMP4691 Physics 307 Econ 659 probability CSCI316 fir29 CSCI203 COMP3160 COMP6714 INFO1113 Physics 7B Physics Photonics S203031 STAT2005 COMP90015 CSCI 2110 CSCC46 Information CSC477 COMP4650 Statistical COMP 346 COMP1017 ELEC340 MATH1007 Programming function STAT 244 CS 134 Java cse13s Math 108A FW20 ECON3389 CSE 130 Science 331 COMP9020 engineering COSC 445 CSE 5523 GAME2012 visualization MATH 235 Math 370 CSC343 COGS 108 EE524 COMP10200 STAT 416 3FK4 MSCI 311 ECON6113 ACC40700 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