Ways of constraining the localization of particules in AMCL?

asked 2017-11-14 02:52:54 -0500

doisyg
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Sorry if there is already an answer out there, I may not have the proper keyword. While using AMCL in far from optimal conditions (not so much features, cheap lidar), I am searching for ways to help the algorithm by putting constraints on where the particules can be. For instance, I have forbidden areas where my robot is not allow to go, and therefore, I would like to tell the AMCL algorithm that no particules are allowed in these areas (these areas are not walls, and cannot be seen by the sensors, just logical obstacles taken into account by the planners). Maybe special values in AMCL map? Any clues? If not I may implement it myself and share it if there is interest.

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answered 2017-11-14 09:38:47 -0500

Augusto Luis Ballardini

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Unfortunately, there is nothing in the amcl code to add this constraint/advanced proposal you are talking about. I think one solution would be to modify the sampling method

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answered 2017-11-14 03:31:47 -0500

jayess
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Correct me if I'm wrong, you want a way to prevent your robot from planning through certain areas without having to actually have anything there (what you called "logical obstacles")? If that's the case then you can just draw black lines on your map to prevent move_base from planning a path through the areas that you don't want the robot to go. You can use (the unfortunately named) GIMP image manipulator. Any areas colored black will be considered to be occupied and therefore shouldn't have any paths planned through them.

Now, if you want to constrain amcl somehow, you can use the ~laser_max_range parameter to change the maximum scan range considered.

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Hi jayess,

This is already what I am doing, I have a second map layer for forbidden areas (logical obstacles) and this is working well: both local and global planner are avoiding these areas. Now what I want to do is to constraint the AMCL particles NOT to be in these forbidden areas.

doisyg ( 2017-11-14 04:27:38 -0500 )edit

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Ways of constraining the localization of particules in AMCL?

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Ways of constraining the localization of particules in AMCL?