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when amcl's particle_cloud is converged(robot is moving ),next time ,if particle_cloud become the t_k+1.jpg,and next time particles converged to wrong place .This werid phenomenon occured because when amcl take resample ,if the <param name="recovery_alpha_slow" value="0.001"/>and <param name="recovery_alpha_fast" value="0.1"/> (in AMCL.cfg ) , resample will take some random particles and take some particles proportional to latest moment' particles weight .Link is here.So to resolve this ,set the two params all zeros .The reason i will read the probobalistic robotics book.

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