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README
actuators.ice
admin.ice
captions-en.sbv
captions-ru.sbv
client.config
estimation.webm
localization.py
sensors.ice
sonar.png

README

Localization example with real robot.

As a robotics platform this example uses hardware and software we are
developing for our Veter-project: http://veterobot.com . 
Corresponding sourcs are available here:
https://github.com/andreynech/udacity-cs373

This example illustrates how to perform one-dimensional localization
using histogram filter we have learned in Unit 1 of the class. In
particular, the left sonar measures the distance at each step. If the
distance is less than threshold (defined as 30cm), then we consider
that the measurement returns "wall". If the distance is larger than
than threshold, then we assume that we are in front of the door.

The one second pause between movements is made intentionally to
highlight that we are not in the continuous space. In practice, it
might be well possible not to stop motors at the moment where
measurements are made. In fact, it is very easy to modify the source
code by commenting out corresponding sleep call to achieve "smooth"
movement.

The video of the experiment could be seen on YouTube:
http://youtu.be/6bkbPjGWVoo