On Fri, 29 Oct 2004, Mark K. Kim wrote:
> really high values... but unfortunately the particles end up spreading
> to outside the map area which isn't a desired behavior since I'd like
> to limit the particle locations to inside the map only.
This is possible (and has been implemented), but I dont think it is
currently functional. The trick is to generate an initial distribution
drawn from a pose population lying entirely in "free" space; specifically,
do a discrete random sampling from a list of free space cells, then
generating a uniform random pose for each sampled cell.
Note that with the adaptive sampling built into the AMCL driver,
generating the initial samples in this way only helps you in certain
limited contexts; e.g., large, highly constrained environments (with high
occupied/free space ratio). Otherwise, it is just a slight optimization
over generating a full gaussian distribution, followed by a sensor update
Regarding Mark's specific question: you can achieve the same effect by
simplying bounding the size of you map (particles outside the map will be
discarded) or marking the "outside" regions of your map as occupied
(particles will get elimininated on the first update step).
Andrew Howard email: ahoward@...
Department of Computer Science http: www-robotics.usc.edu/~ahoward
University of Southern California phone: 1 (213) 740 6416
Los Angeles, CA, U.S.A. 90089-0781 fax: 1 (213) 821 5696
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