Particle Filter

From HotDec

This HOW-TO takes you through the process of compiling the code necessary to do particle filter estimation, uploading it to the craft, executing the code, and using a web interface to perform control actions. It is based on using the Lidar Hovercraft which is currently designated by the number on its powerboard. Therefore its IP address is 192.168.0.204 --Baillio2 14 May 2008

Contents 1 Processes 2 Compile the code 3 Upload code to hovercraft 4 Executing the code 5 Web Interface

Processes

There are 4 main processes involved for particle filter estimation with the HoTDeC system. All this code is located in the svn repository at /hotdec/trunk/baillio2/

1. controller_zhedi/controller
2. overhead_vision/packet_manager
3. localization/particle_filter
4. urg04lx/urgd

There are 2 additional processes that are used to transmit and view the particle filter data in a graphical display.

1. laser/pf_visual
2. laser/laser_viewer

Compile the code

• > cd /hotdec/trunk/baillio2
• > make
• > scp controller_zhedi/controller overhead_vision/packet_manager localization/particle_filter urg04lx/urgd laser/pf_visual root@192.168.0.204:/tmp

Upload code to hovercraft

I like to run each process in a separate terminal so I have control to terminate processes quickly. Therefore, I open 5 terminals.

• ssh root@192.168.0.204
  • > cd /root/baillio2
  • > lsmod | grep mcu
    • > insmod mcu_device_driver.ko
  • > cd /tmp

Executing the code

One per terminal:

• > ./controller
• > ./packet_manager --wlan 0 0
• > ./particle_filter
• > ./urgd
• > ./pf_visual

Web Interface

• "http://tale.mechse.uiuc.edu/applet/"
  • Connect to Hovercraft (craft # is according to the lid)
  • Push Toggle Floor View
    • Use Lift On to turn on hovercraft
    • Click in the large box for x-y control