Project: Kidnapped Vehicle

Kidnapped Vehicle

Robot has been kidnapped and transported to a new location! Luckily it has a map of this location, a (noisy) GPS estimate of its initial location, and lots of (noisy) sensor and control data.

This project implement a 2 dimensional particle filter in C++. My particle filter was given a map and some initial localization information (analogous to what a GPS would provide). At each time step my filter will also get observation and control data.

Running the Code

This project involves the Term 2 Simulator which can be downloaded here

This repository includes two files that can be used to set up and install uWebSocketIO for either Linux or Mac systems. For windows you can use either Docker, VMware, or even Windows 10 Bash on Ubuntu to install uWebSocketIO.

Once the install for uWebSocketIO is complete, the main program can be built and ran by doing the following from the project top directory.

mkdir build
cd build
cmake ..
make
./particle_filter

Alternatively some scripts have been included to streamline this process, these can be leveraged by executing the following in the top directory of the project:

./clean.sh
./build.sh
./run.sh

Tips for setting up environment can be found here

Implementing the Particle Filter

The directory structure of this repository is as follows:

root
|   build.sh
|   clean.sh
|   CMakeLists.txt
|   README.md
|   run.sh
|
|___data
|   |   
|   |   map_data.txt
|   
|   
|___src
    |   helper_functions.h
    |   main.cpp
    |   map.h
    |   particle_filter.cpp
    |   particle_filter.h

Inputs to the Particle Filter

You can find the inputs to the particle filter in the data directory.

The Map*

map_data.txt includes the position of landmarks (in meters) on an arbitrary Cartesian coordinate system. Each row has three columns

x position
y position
landmark id

All other data the simulator provides, such as observations and controls.