Particle Filter Localization
August 6, 2012
I am reading and researching about particle filters. I understand doing a full implementation of a SLAM would not be suitable if we are using things like IR sensors, Sonars, etc. So instead of making a SLAM I decided to make a particle filter.
Doing some research, I have found out that lego people have built one. Here is the source code: https://wiki.qut.edu.au/download/attachments/103397109/nxt_particles.c?version=1&modificationDate=1302407038000
Basically, a map is defined. a set of way points are defined. the robot executes the way points, and does localization tru particle filters. there is a video of with and without filters of the same bot moving around. without filter it bumps into a wall and gets lost.
I have also found out about https://github.com/erhs-53-hackers/arduibot where it seems like an implementation of particle filter using c++ / arduino is done. however, there is no documentation on this one. I have read the code and I can see a particle filter is implemented, but I have no idea whether it will work as a project or not.
Any ideas and input greatly appreciated.