Minimum allowed number of particles

asked 2016-06-07 21:33:34 -0600

ligang
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updated 2016-06-08 06:24:31 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

in amcl the Minimum allowed number of particles means what?

Who can give some detail explain ?

I can not know what is particles?

"min_particles", "int", 0, "Minimum allowed number of particles.
"max_particles", "int", 0, "Mamimum allowed number of particles.
"kld_err", "double", 0, "Maximum error between the true distribution and the estimated distribution."
"kld_z", "double", 0, "Upper standard normal quantile for (1 - p), where p is the probability that the error on the estimated distrubition will be less than kld_err."
"update_min_d", "double", 0, "Translational movement required before performing a filter update."
"update_min_a", "double", 0, "Rotational movement required before performing a filter update."

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the particles is a point in a map? or a point through the radar in one second scan?

or other ?

ligang ( 2016-06-07 21:46:53 -0600 )edit

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answered 2016-06-08 05:44:37 -0600

FOXTER
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Try and look up a Particle filter on google, in order to understand the parameters you need some background knowledge of the filter. In short each particle is a simulated potential position of the robot. Each position is then scored with respect to the current laserscan and map.

The minimum number of particles is the minimum number of particles you want in your filter to maintain an accurate belief of the robots position.

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answered 2016-06-11 19:59:05 -0600

ligang
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rosmsg show geometry_msgs/Pose geometry_msgs/Point position float64 x float64 y float64 z geometry_msgs/Quaternion orientation float64 x float64 y float64 z float64 w

rosmsg show turtlesim/Pose float32 x float32 y float32 theta float32 linear_velocity float32 angular_velocity

rosmsg show move_base_msgs/MoveBaseGoal geometry_msgs/PoseStamped target_pose std_msgs/Header header uint32 seq time stamp string frame_id geometry_msgs/Pose pose geometry_msgs/Point position float64 x float64 y float64 z geometry_msgs/Quaternion orientation float64 x float64 y float64 z float64 w

"min_particles", "int", 0, "Minimum allowed number of particles.
if we set it 500

/Point position
float64 x float64 y is divide to 500

or geometry_msgs/Point position float64 x float64 y float64 z geometry_msgs/Quaternion orientation float64 x float64 y float64 z

divide to 500

500, position to 50 Quaternion to 10 ?

I want to know that how to divide the position and quaternion

I learn something about particles filter, I know that one particle is a states ,but in ROS a states include x,y,and angle。

I want to know how allocation it ?

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Minimum allowed number of particles

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