Monte Carlo Localization Algorithm

4 次查看（过去 30 天）
John Lee
John Lee 2020-3-5
回答： Shresth Sharma 2020-3-20
The Monte Carlo Localization (MCL) algorithm is used to estimate the position and orientation of a robot. During the process, we need to determine the number of beams employed for computation of likelihood function. Usually, 300 ldar beams are used as the measurement. Then, it will easily becomes 0 even with 3 or 4 beams. So, in practice, how many bemas do you use for this process?

请先登录，再回答此问题。

回答（1 个）

Shresth Sharma
Shresth Sharma 2020-3-20
Hi,
It is my understanding that you are using Monte Carlo Localization algorithm and you are trying to determine the number of beams required for computation of the likelihood function. Now for MATLAB the computation of likelihood uses 60 as default value for ‘NumBeams’. But it is suggested for computational efficiency of the likelihood function the number of beams should be specified less than the number available by the sensor.
For more information on the likelihood function and information on the Monte Carlo Algorithm you can go through the following documentation links:
https://www.mathworks.com/help/nav/ug/monte-carlo-localization-algorithm.html
https://www.mathworks.com/help/nav/ref/montecarlolocalization-system-object.html
https://www.mathworks.com/help/nav/ref/likelihoodfieldsensormodel.html

类别

在 Help Center 和 File Exchange 中查找有关 PID Controller Tuning 的更多信息

标签

产品

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by