suljaxm / CarND-Kidnapped-Vehicle-Project

Location based on particle filter under sparse map

CarND-Kidnapped-Vehicle-Project

Self-Driving Car Engineer Nanodegree Program

Project Introduction

My 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 I will implement a 2 dimensional particle filter in C++. My particle filter will be 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.

Dependencies

• ubuntu
  • Windows
• cmake: 3.5
  • All OSes: installation instructions
• make: 4.1 (Linux and Mac), 3.81 (Windows)
• gcc/g++: 5.4
• uWebSocketIO

   git clone https://github.com/uWebSockets/uWebSockets 
   cd uWebSockets
   git checkout e94b6e1
   mkdir build
   cd build
   cmake ..
   make 
   sudo make install
   cd ../..
   sudo ln -s /usr/lib64/libuWS.so /usr/lib/libuWS.so
   sudo rm -r uWebSockets
  

• Term 2 Simulator
  • Windows

Basic Build Instructions

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

1. Clone this repo.
2. Make a build directory: mkdir build && cd build
3. Compile: cmake .. && make
   • On windows, you may need to run: cmake .. -G "Unix Makefiles" && make
4. Run it: ./particle_filter

Communication Protocol

Here is the main protocol that main.cpp uses for uWebSocketIO in communicating with the simulator.

INPUT: values provided by the simulator to the c++ program

// sense noisy position data from the simulator

["sense_x"]

["sense_y"]

["sense_theta"]

// get the previous velocity and yaw rate to predict the particle's transitioned state

["previous_velocity"]

["previous_yawrate"]

// receive noisy observation data from the simulator, in a respective list of x/y values

["sense_observations_x"]

["sense_observations_y"]

OUTPUT: values provided by the c++ program to the simulator

// best particle values used for calculating the error evaluation

["best_particle_x"]

["best_particle_y"]

["best_particle_theta"]

//Optional message data used for debugging particle's sensing and associations

// for respective (x,y) sensed positions ID label

["best_particle_associations"]

// for respective (x,y) sensed positions

["best_particle_sense_x"] <= list of sensed x positions

["best_particle_sense_y"] <= list of sensed y positions

Data

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

1. x position
2. y position
3. landmark id

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

• Map data provided by 3D Mapping Solutions GmbH.