Members : Vegard Bergsvik Øvstegård
Supervisors : Jim Tørresen
This repository contains a crude implementation the Monte Carlo Localization algorithm, a.k.a particle filter. It is used mainly for simulation and testing.
As mentioned, this is a crude implementation. It does have a form of dynamic particle initialization, but is in no way optimized. Red circle is the UAV/Robot, and black dots with lines are particles. The particle dots increase in size and turn green when they are likely ti bee in the same location as the UAV/Robot.
- Python (version 3.8)
- Pip
- virtualenv or:
git clone https://github.com/gil-uav/crude_mcl.gitpython3 -m venv env
source env/bin/activate
pip install -r requirements.txtpython monte_carlo_localization.py
Press r to reset the simulation, and space to pause.
One can also tinker with the global parameters in the top of monte_carlo_localization.py