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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