Thursday, March 27, 2008

Localization results

Here are results of our localization algorithm.
We start by showing simulated results to see why using only the GPS or the wheel encoders is not enough

Now lets see how the particle filter algorithm can help

and, just for those of you with less then 20/20 vision lets see some comparison graphs

finally we show a little video of the results of a real localization run video

Monday, March 3, 2008

Field tests + photos


We have been working for some time on our localization algorithm (which is based on a particle filter). After it proved successful on simulated data we have decided it was time to start testing it on real data gathered from the robot sensors.
These photos show one of our field test runs, in which we log data for further in-lab testing.
When we are satisfied with the results we will move to real-time testing of the algorithm... stay tuned :)

HANS goes GPL

Hi All,
We have started using sourcforge's SVN server for our source control needs,
which means that the HANS code is now released under GNU General Public License. You can download the source and see if you find something interesting in it :)

The project's web page on sourceforge can be found here.