BarelangFC-Particle-Filter-Sim V1.0

Barelang FC Particle Filter Localization Simulator

Opensource contribution of Barelang FC Team for RoboCup Competition

Created by : Eko Rudiawan Jamzuri

Dependencies

• Python 2.7
• OpenCV 3.2.0
• Numpy
• Scipy

How To Run

• Running program

  ek91@BarelangFC:~$ git clone https://github.com/ekorudiawan/BarelangFC-Particle-Filter-Sim.git
  ek91@BarelangFC:~$ cd BarelangFC-Particle-Filter-Sim/Source-Code/
  ek91@BarelangFC:~$ python Barelang-FC-Particle-Filter-Sim.py

• Exit from program

  Press X

Example Visualization

• Red : Random Particles
• Yellow : Robot Position
• Blue : Estimate Position
• Default time sampling : 1s
• Default random particles : 100
• Default landmark : 2 (Left opposite goal & right opposite goal)
• This program still estimate robot position (X and Y position), heading position not yet calculated

References

• Kalman and Bayesian Filters in Python by Roger R. Labbe
• Adiprawita, Widyawardana, et al. "New resampling algorithm for particle filter localization for mobile robot with 3 ultrasonic sonar sensor." Electrical Engineering and Informatics (ICEEI), 2011 International Conference on. IEEE, 2011.