Module: Localization2D_PF


Module info:

Module name Short description Publishes Subscribes
Localization2D_PF Monte-Carlo localization for a mobile robot within a known map. CURRENT_MAP_GRIDMAP , EST_GOODNESS , LOCALIZATION_COV_PF , LOCALIZATION_PARTICLES , LOCALIZATION_PF , ODO_REFERENCE LASER1 , LASER2 , LASER3 , ODOMETRY , RELOCALIZE_IN_AREA , SHUTDOWN

MOOS commands accepted by the module:

Parameters accepted in the MOOS mission file:
Parameter Description
gridmap_image_cx When using gridmap_image_file, the X pixel where the (0,0) origin is at.
gridmap_image_cy When using gridmap_image_file, the Y pixel where the (0,0) origin is at.
gridmap_image_file An image to load a gridmap from.
gridmap_image_res When using gridmap_image_file, the size in meters of each pixel.
simplemap_file A .simplemap to load the map from.
X_MAX The rectangle where a uniform pdf of particles is initialized for global localization.
X_MIN The rectangle where a uniform pdf of particles is initialized for global localization.
Y_MAX The rectangle where a uniform pdf of particles is initialized for global localization.
Y_MIN The rectangle where a uniform pdf of particles is initialized for global localization.

Detailed description:
Monte-Carlo localization for a mobile robot within a known map.This module takes a metric map (e.g. grid map) and perform global localizationand pose tracking of the robot using an adaptive number of particles.

Module graph:
Localization2D_PF

TODO list:
(None)


Changes log:
(None)



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