Implementation - Robot Navigation
Block Diagram Initialization of Pyro object robot = Pyro4.Proxy("PYRONAME:example.robot") # use name server object lookup uri shortcut con =connect() #############.............................. Define particles defining number of particles,initiating particles array and assigning initial position # Generate initial particles. Each particle is (x, y, theta). number_of_particles = 25 start_state = np.array([500.0, 0.0, 45.0 / 180.0 * pi]) initial_particles = [copy.copy(Particle(start_state)) for _ in xrange(number_of_particles)] Initiating SLAM object fs = FastSLAM(initial_particles, robot_width, scanner_displacement, control_motion_factor, control_turn_factor, measurement_distance_stddev, measurement_angle_stddev, minimum_correspondence_likelihood) Loop check whether incoming data is valid try : while True: ...