Mobile Robot Control 2024 Ultron:Solution 4

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0. Assignment introduction

0.1 Explore the code framework

1.How is the code is structured?


2.What is the difference between the ParticleFilter and ParticleFilterBase classes, and how are they related to each

other?


3.How are the ParticleFilter and Particle class related to eachother?


4.Both the ParticleFilterBase and Particle classes implement a propagation method. What is the difference between the methods?

1. Assignments for the first week

1.1 Initialize the Particle Filter

1.2 Calculate the pose estimate

1.3 Propagate the particles with odometry

2. Assignment for the second week

2.1 Correct the particles with LiDAR

2.2 Re-sample the particles

2.3 Test on the physical setup
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