December 2017
Intermediate to advanced
480 pages
7h 13m
Japanese
book
プログラミングROS ―Pythonによるロボットアプリケーション開発
by Morgan Quigley, Brian Gerkey, William D. Smart, 河田 卓志, 松田 晃一, 福地 正樹, 由谷 哲夫
Content preview from プログラミングROS ―Pythonによるロボットアプリケーション開発Become an O’Reilly member and get unlimited access to this title plus top books and audiobooks from O’Reilly and nearly 200 top publishers, thousands of courses curated by job role, 150+ live events each month,
O’Reilly covers everything we've got, with content to help us build a world-class technology community, upgrade the capabilities and competencies of our teams, and improve overall team performance as well as their engagement.I wanted to learn C and C++, but it didn't click for me until I picked up an O'Reilly book. When I went on the O’Reilly platform, I was astonished to find all the books there, plus live events and sandboxes so you could play around with the technology.I’ve been on the O’Reilly platform for more than eight years. I use a couple of learning platforms, but I'm on O'Reilly more than anybody else. When you're there, you start learning. I'm never disappointed.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.
10章世界を動き回る
ロボットができる最も基本的なことの1つは世界を動き回ることです。これを効率的に行うには、ロボットが自分がどこにいるか、どこに向かっているかを知る必要があります。これは、通常は、その世界の地図、出発地、目的地を与えることで達成されます。前の章では、センサーデータから世界の地図を構築する方法を見ました。ここでは、ロボットが世界のある場所から別の場所に地図とROSのナビゲーションパッケージを用いて自律的に動いていけるようにします。まずは、ロボットがどこにいるかを見つけ出す手助けをすることから始めましょう。
10.1 ロボットが地図のどこにいるかを推定する
この節では、ROSのamclパッケージを用いて、どのようにしてロボットが地図の中のどこにいるかを推定するかを見ていきます。amclノードは確率に基づく位置推定アルゴリズムを実装しています。このアルゴリズムは適応型モンテカルロ位置推定法（Adaptive Monte Carlo Localization）として知られており、Sebsastian Thrun、Wolfram Burgard、Dieter Foxによる『Probabilistic Robotics』†1（MIT Press）で説明されています。特に、これは、sample_motion_model_odometry、beam_range_finder_model、likelihood_field_range_finder_model、Augmented_MCL、KLD_Sampling_MCLといったアルゴリズムを用います。位置推定パッケージを使用するだけあれば、これらのアルゴリズムがどのように動いているかに関する技術的な詳細すべてを知る必要はありませんが、その高いレベルで詳細のいくつかを理解しておくと、位置推定の作業を行おうとする際に楽になります ...
Become an O’Reilly member and get unlimited access to this title plus top books and audiobooks from O’Reilly and nearly 200 top publishers, thousands of courses curated by job role, 150+ live events each month,
and much more.
Read now
Unlock full access
More than 5,000 organizations count on O’Reilly
O’Reilly covers everything we've got, with content to help us build a world-class technology community, upgrade the capabilities and competencies of our teams, and improve overall team performance as well as their engagement.Julian F.
I wanted to learn C and C++, but it didn't click for me until I picked up an O'Reilly book. When I went on the O’Reilly platform, I was astonished to find all the books there, plus live events and sandboxes so you could play around with the technology.Addison B.
I’ve been on the O’Reilly platform for more than eight years. I use a couple of learning platforms, but I'm on O'Reilly more than anybody else. When you're there, you start learning. I'm never disappointed.Amir M.
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.