A Particle Filter Tutorial for Mobile Robot Localization ... - CIM (McGill)

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description of the Monte-Carlo Simulation method (particle filtering) we used in order to imple- ..... Monte Carlo Samples) ..... [28] S. Koenig and R.G. Simmons.
            

     

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Sample Trajectory of an exploring Robot (*: Tracker, o: Odometer, .: Monte Carlo Samples)

Reproducing Thruns results

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Error (in degrees)

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8

5 Number of samples

Number of samples

Histogram of Error (E=0.0882 σ=0.0962) 10

6 4 2

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0 −0.4

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0 0.5

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Histogram of Error (E=0.7484 σ=0.1477)

12 Number of samples

Number of samples

Histogram of Error (E=0.5296 σ=0.2143)

1 1.5 Error in degrees (Plastic 1)

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0

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Histogram of Error (E=−1.7205 σ=0.2564)

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3

4

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2

1

0 −0.6

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Histogram of Error (E=−0.8371 σ=0.1042)

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−1

Histogram of Error (E=−0.9922 σ=0.1654)

10

7 6

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5 6

4

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Error distribution from intended angle (−90°)

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30

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20

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2

Histogram of error in Θ

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2

Position of the Robot

30

2

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15

0

10 −1 5 0 −1

−2 85

−0.5 0 0.5 1 Error in degrees (E=0.0601 σ=0.3075)

90

95 X

100

105

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Histogram of error in Y

7

5 Number of samples

Number of samples

6 5 4 3 2 1 0

0

1 2 3 Error in cm (E=2.4488 σ=0.9003)

4 3 2 1 0

4

0

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Histogram of error in Θ

Position of the Robot

5

2

4

1

3 0

Y

Number of samples

2

2 −1

1 0 0.5

1 Error in cm (E=1.0867 σ=0.1810)

−2 105

1.5

110

115 X

120

125 Plastic

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Histogram of error in X

Histogram of error in Y

10

8

Number of samples

10

Number of samples

12

8 6 4

6 4 2

2 0 −4

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0 −1

1

−0.5 0 0.5 1 Error in cm (E=0.5329 σ=0.3851) Position of the Robot

8

2

6

1

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0

Y

Number of samples

Histogram of error in Θ

2

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1.5

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110

115 X

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Standard Deviation

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