December 2016
Beginner to intermediate
468 pages
9h 43m
English
book
Effective Robotics Programming with ROS - Third Edition
by Luis Sanchez, Enrique Fernandez Perdomo, Anil Mahtani
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Adaptive Monte Carlo Localization
In this chapter, we are using the Adaptive Monte Carlo Localization (AMCL) algorithm for the localization. The AMCL algorithm is a probabilistic localization system for a robot moving in 2D. This system implements the adaptive Monte Carlo Localization approach, which uses a particle filter to track the pose of a robot against a known map.
The AMCL algorithm has many configuration options that will affect the performance of localization. For more information on AMCL, please refer to the AMCL documentation at http://wiki.ros.org/amcl and also at http://www.probabilistic-robotics.org/.
The amcl node works mainly with laser scans and laser maps, but it could be extended to work with other sensor data, such as a sonar ...
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I'm always learning. So when I got on to O'Reilly, I was like a kid in a candy store. There are playlists. There are answers. There's on-demand training. It's worth its weight in gold, in terms of what it allows me to do.