Scale Axes ............................................... 2-13
Occupancy Grids ............................................. 2-14
Overview ................................................ 2-14
World, Grid, and Local Coordinates ............................. 2-14
Ination of Coordinates ..................................... 2-15
Log-Odds Representation of Probability Values .................... 2-19
Execute Code at a Fixed-Rate ................................... 2-22
Introduction .............................................. 2-22
Run Loop at Fixed Rate ..................................... 2-22
Overrun Actions for Fixed Rate Execution ........................ 2-22
Particle Filter Workow ....................................... 2-25
Estimation Workow ........................................ 2-25
Particle Filter Parameters ...................................... 2-29
Number of Particles ........................................ 2-29
Initial Particle Location ...................................... 2-30
State Transition Function .................................... 2-31
Measurement Likelihood Function ............................. 2-32
Resampling Policy ......................................... 2-32
State Estimation Method .................................... 2-33
Pure Pursuit Controller ........................................ 2-34
Reference Coordinate System ................................. 2-34
Look Ahead Distance ....................................... 2-34
Limitations ............................................... 2-35
Monte Carlo Localization Algorithm ............................. 2-36
Overview ................................................ 2-36
State Representation ....................................... 2-36
Initialization of Particles ..................................... 2-38
Resampling Particles and Updating Pose ......................... 2-40
Motion and Sensor Model .................................... 2-41
Vector Field Histogram ........................................ 2-45
Robot Dimensions .......................................... 2-45
Cost Function Weights ...................................... 2-47
Histogram Properties ....................................... 2-47
Tune Parameters Using show ................................. 2-49
Navigation Block Examples
3
Convert Coordinate System Transformations ....................... 3-2
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