joustava / CarND-Kidnapped-Vehicle-Project

Kidnapped Vehicle project of the Self Driving Car Engineer Nano Degree in Udacity's school of Autonomous Systems

Kidnapped Vehicle Project

This repository contains all the code needed to complete the final project for the Localization course in Udacity's Self-Driving Car Nanodegree.

Project introduction

Your 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.

In this project a 2D particle filter in implemented in C++. The particle filter will be given a map and some initial localization information (analogous to what a GPS would provide). At each time step the filter will also get observation and control data.

At t=0 the filter is initialized. Then, each subsequant cycle will: predict the new positions and heading for each particle update weights of each particle resample the particles

Running the Code

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

./build.sh
./run.sh

Tips for setting up your environment can be found here

Tests

Test support is added to the project. Test are not extensive yet. To run them:

./build.sh
./test.sh